Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking

Forskningsoutput: TidskriftsbidragArtikel i vetenskaplig tidskrift

Abstract

A simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is still applicable for a vehicle with equal front-wheel angles.

Detaljer

Författare
Enheter & grupper
Externa organisationer
  • Linköping University
Forskningsområden

Ämnesklassifikation (UKÄ) – OBLIGATORISK

  • Farkostteknik

Nyckelord

Originalspråkengelska
Sidor (från-till)458-464
Antal sidor7
TidskriftIFAC-PapersOnLine
Volym52
Utgåva nummer5
StatusPublished - 2019 sep 19
PublikationskategoriForskning
Peer review utfördJa
Evenemang9th IFAC Symposium on Advances in Automotive Control, AAC 2019 - Orléans, Frankrike
Varaktighet: 2019 jun 232019 jun 27

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