AAC 2019 Paper Abstract

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Mustaki, Simon (IMT Atlantique/ LS2N / Renault), Chevrel, Philippe (IMT Atlantique / LS2N), Yagoubi, Mohamed (Ecole des Mines de Nantes (IRCCyN)), Fauvel, François (Renault), Kvieska, Pedro (Renault SAS)

Robust Lateral Control of Cars : Towards a Reduction of Pessimism and an Easy Trade-Off between Performance, Comfort and Robustness

Scheduled for presentation during the Regular Session "Autonomous Vehicle Control" (TuAT1), Tuesday, June 25, 2019, 10:50−11:10, Chambord

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 March 28, 2024

Keywords Adaptive Cruise Control, Heading Control, Lanekeeping, Driver Warning Systems, Systems Based on Car-to-x-communication, Model-based Calibration, Plant Modelling and System Identification

Abstract

This paper presents a methodology to design a Lane Centering Assistance (LCA) system. It proposes an original approach to deal with the large parametric uncertainties encountered by automotive design engineers. Indeed, the same controller is supposed to be used for a specific vehicle regardless its configuration (tire, load, motorization, etc.). The methodology consists in a gradual insertion of the designers expertise in order to reduce as much as possible the inherent pessimism of a multi-model design approach. It also proposes some direct parameters to easily adjust the sought trade-off between performance (low lateral error) and driving feeling (jerks). The proposed design process is validated by high-fidelity simulations using complete nonlinear vehicle models.

 

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