Path Control in Limits of Vehicle Handling: A Sensitivity Analysis
Paper in proceeding, 2020
Sensitivity analysis of a feedback-feedforward steering controller for lateral path tracking whilst the vehicle operates in limit handling is the main objective of this paper. The sensitivity analysis is executed by simulation and the effectiveness of the controller is evaluated in a test vehicle on a low friction skid pad. The results demonstrate that the controller is capable to achieve robust path tracking in limit handling condition for the variety of driving conditions with sufficient stability.
Steering
SDRE
Limit handling
Lateral
Author
Erik Wachter
Antoine Schmeitz
Netherlands Organisation for Applied Scientific Research (TNO)
Fredrik Bruzelius
Chalmers, Mechanics and Maritime Sciences (M2), Vehicle Engineering and Autonomous Systems
Mohsen Alirezaei
Eindhoven University of Technology
RTD Department
Lecture Notes in Mechanical Engineering
21954356 (ISSN) 21954364 (eISSN)
1089-1095
26th Symposium of the International Association of Vehicle System Dynamics
Göteborg, Sweden,
Göteborg, Sweden,
Subject Categories
Vehicle Engineering
Robotics
Control Engineering
DOI
10.1007/978-3-030-38077-9_126