AAC 2019 Paper Abstract

AAC 2019 Paper Abstract

Paper WeAT3.5

Fors, Victor (Linköping University), Olofsson, Bjorn (Lund University), Nielsen, Lars (Linköping University)

Yaw-Moment Control At-The-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking

Scheduled for presentation during the Regular Session "Vehicle Dynamics Control" (WeAT3), Wednesday, June 26, 2019, 11:50−12:10, Chamerolles

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on April 25, 2024

Keywords Integrated Motion Control: Direct Yaw Control/Electronic Stability Control, 4 Wheel Steering,X-by-Wire, Active Suspensions and Roll Bars, Active Chassis Systems: Brake, Steering, Suspension Systems

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.