Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking⁎. Issue 5 (2019)

• Record Type: Journal Article
• Authors: Fors, Victor; Olofsson, Björn; Nielsen, Lars
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 5(2019)
• Page Start: 458
• Page End: 464
• Publication Date: 2019
• Subjects: tire modeling -- chassis control -- yaw control -- departure prevention -- optimal control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.09.073
• Languages: English
• ISSNs: 2405-8963

Abstract

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.