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Robust Autonomous Car Steering Based on Vehicle Dynamics Inversion

Bajcinca, Naim (2005) Robust Autonomous Car Steering Based on Vehicle Dynamics Inversion. CCA 2005, 2005-08-28 - 2005-08-31, Toronto.

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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 maneurvers for different vehicle speeds and road conditions with linear and detailed nonlinear vehicle model.

Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=2005,
Title:Robust Autonomous Car Steering Based on Vehicle Dynamics Inversion
Authors:
AuthorsInstitution or Email of Authors
Bajcinca, NaimUNSPECIFIED
Date:February 2005
Status:Published
Keywords:Autonomous steering, robust control, vehicle dynamics, 2 DOF control, IDOB
Event Title:CCA 2005
Event Location:Toronto
Event Type:international Conference
Event Dates:2005-08-28 - 2005-08-31
Organizer:IEEE Conference on Control Applications
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Transport
HGF - Program Themes:V SH - Verbesserung der Sicherheit im Verkehr (old)
DLR - Research area:Transport
DLR - Program:V SH - Verbesserung der Sicherheit im Verkehr
DLR - Research theme (Project):V - MetroFa (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:21 Feb 2006
Last Modified:14 Jan 2010 19:39

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