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2020 | OriginalPaper | Chapter

Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Authors: Mart Baars, Hans Hellendoorn, Mohsen Alirezaei

Published in: Advances in Dynamics of Vehicles on Roads and Tracks

Publisher: Springer International Publishing

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Abstract

In this research a controller is developed that can control path-tracking both within and beyond stable limit handling. A controller is developed, based on the equations of motion of the nonlinear bicycle model. The performance of the controller is evaluated in both simulation and on a 1/10 scale radio controlled car. The controller is able to track a path in typical cornering conditions and let the vehicle enter and maintain a drift while remaining close to the desired path.
previous chapter Combined Lateral and Longitudinal Control with Variable Reference Path for Automated Driving
next chapter Flow Field and Neural Network Guided Steering Control for Rigid Autonomous Vehicles
Footnotes
1
A video of the implemented controller in typical cornering conditions can be found at: https://​youtu.​be/​aU6xPavFe4Q.
 
2
A video of the implemented controller in high sideslip conditions can be found at: https://​youtu.​be/​VWgdd5jgyuk.
 
Literature
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Gray, A., Gao, Y., Lin, T., Hedrick, J.K., Tseng, H.E., Borrelli, F.: Predictive control for agile semi-autonomous ground vehicles using motion primitives, pp. 4239–4244 (2012)
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Hindiyeh, R.Y.: Dynamics and control of drifting in automobiles, p. 223, March 2013
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Arab, A., Yu, K., Yi, J., Liu, Y.: Motion control of autonomous aggressive vehicle maneuvers, vol. 1, pp. 1663–1668 (2016)
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Wachter, E.: Lateral Path Tracking in Limit Handling Condition using SDRE Control (2016)
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Hingwe, P., Tomizuka, M.: A variable look-ahead controller for lateral guidance of four wheeled vehicles. In: Proceedings of the American Control Conference, vol. 1, pp. 31–35, June 1998
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Patwardhan, S., Tan, H.-S., Guldner, J.: A general framework for automatic steering control: system analysis. In: Proceedings of the 1997 American Control Conference (Cat. No. 97CH36041), vol. 3, pp. 1598–1602 (1997)
7.
Schmeitz, A., Zegers, J., Ploeg, J., Alirezaei, M.: Towards a generic lateral control concept for cooperative automated driving. In: 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, At Naples (2017)
Metadata
Title
Control of a Scaled Vehicle in and Beyond Stable Limit Handling
Authors
Mart Baars
Hans Hellendoorn
Mohsen Alirezaei
Copyright Year
2020
Book
Advances in Dynamics of Vehicles on Roads and Tracks

Print ISBN: 978-3-030-38076-2

Electronic ISBN: 978-3-030-38077-9

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-38077-9_131

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