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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.
| Item URL in elib: | https://elib.dlr.de/18706/ | ||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||
| Additional Information: | LIDO-Berichtsjahr=2005, | ||||||||
| Title: | Robust Autonomous Car Steering Based on Vehicle Dynamics Inversion | ||||||||
| Authors: |
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| Date: | February 2005 | ||||||||
| Open Access: | No | ||||||||
| Gold Open Access: | No | ||||||||
| In SCOPUS: | No | ||||||||
| In ISI Web of Science: | No | ||||||||
| 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 Start Date: | 28 August 2005 | ||||||||
| Event End Date: | 31 August 2005 | ||||||||
| 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 (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 (until 2012) | ||||||||
| Deposited By: | DLR-Beauftragter, elib | ||||||||
| Deposited On: | 21 Feb 2006 | ||||||||
| Last Modified: | 24 Apr 2024 19:00 |
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