Multi-criteria stability combination for yaw stability control of autonomous vehicles. Issue 5 (2019)

• Record Type: Journal Article
• Authors: Gasmi, Asma; Boudali, Mohamed-Taha; Orjuela, Rodolfo; Basset, Michel
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 5(2019)
• Page Start: 465
• Page End: 470
• Publication Date: 2019
• Subjects: stability criteria combination -- lateral stability management -- autonomous vehicle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.09.074
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper deals with the yaw stability control to enhance the lateral stability of an autonomous vehicle. By considering some of the main existing stability criteria in the literature, a methodology of monitoring vehicle stability by combining multiple stability criteria is developed in this paper. This combined stability approach is then employed as supervisor in a yaw stability control program to activate a high level control layer. This last is based on a robust state feedback approach and its aim is to improve lateral stability safety by applying a stabilizing yaw moment. Simulations highlight the effectiveness of the given method.