Robust Autonomous Car Steering Based on Vehicle Dynamics Inversion

Kurzfassung

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.