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:

Authors	Institution or Email of Authors
Bajcinca, Naim

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

HGF - Program:

Transport

HGF - Program Themes:

V SH - Verbesserung der Sicherheit im Verkehr

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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