Title :
Autonomous all-wheel car steering
Author_Institution :
Inst. of Robotics & Mechatronics, German Aerosp. Center (DLR), Oberpfaffenohfen
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;
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
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776827
