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

被引：5
|
作者：
Fors, Victor [1 ]
Olofsson, Bjorn [1 ,2 ]
Nielsen, Lars [1 ]
机构：
[1] Linkoping Univ, Div Vehicular Syst, Dept Elect Engn, SE-58183 Linkoping, Sweden
[2] Lund Univ, Dept Automat Control, SE-22100 Lund, Sweden
来源：
IFAC PAPERSONLINE | 2019年 / 52卷 / 05期
关键词：
tire modeling; chassis control; yaw control; departure prevention; optimal control;
D O I：
10.1016/j.ifacol.2019.09.073
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：458 / 464
页数：7
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