Autonomous all-wheel car steering

Author

Bajçinca, Naim

Author_Institution

Inst. of Robotics & Mechatronics, German Aerosp. Center (DLR), Oberpfaffenohfen

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

1282

Lastpage

1287

Abstract

The autonomous car steering problem is defined as a regulation task of yaw and relative lateral position dynamics along a given path trajectory. Therefore a control structure based on vehicle dynamics inversion is proposed to decouple the two regulation tasks. The inversion structure assumes all-wheel (joint front- and rear-axle) steering actuation. The resulting algorithm exhibits additionally integrated robust yaw stabilization and is validated by simulation of different maneuvers for different vehicle speeds and road conditions with linear and detailed nonlinear vehicle model

Keywords

automobiles; inverse problems; nonlinear control systems; position control; robust control; steering systems; vehicle dynamics; autonomous all-wheel car steering; joint front steering actuation; lateral position dynamics; nonlinear vehicle model; path trajectory; rear-axle steering actuation; robust yaw stabilization; vehicle dynamics inversion; vehicle maneuver; yaw regulation; Acceleration; Actuators; Axles; Character generation; Displacement control; Displacement measurement; Motion control; Remotely operated vehicles; Road vehicles; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776827

Filename

4776827