Non-linear steering control for limit handling conditions using preview path curvature
Artikel i vetenskaplig tidskrift, 2014

Path-following steering control has many applications in autonomous driving, which may one day lead to cars running on autopilot. The developed controller addresses the path-following task by the required path curvature to reach a single preview point ahead of the vehicle as input to the controller. A pre-defined non-linear map of steering angle vs. curvature and vehicle speed is used to calculate the required steering angle. Calibration of the controller is done by performing a simple steady-state circle manoeuvre. The controller is evaluated using both simulations and experiments. Excellent path-following performance is achieved all the way up to the limit of adhesion. The actuation is smooth and the error rarely exceeds 1 m even at lateral acceleration levels of up to 10 m/s2.

steering control

Vehicle dynamics

path following

steering robot

Författare

Matthijs Klomp

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Carl A Sandberg

International Journal of Vehicle Autonomous Systems

1471-0226 (ISSN) 1741-5306 (eISSN)

Vol. 12 3 266-283

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1504/IJVAS.2014.063043

Mer information

Senast uppdaterat

2019-01-07