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2020 | OriginalPaper | Chapter

Control of a Scaled Vehicle in and Beyond Stable Limit Handling

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Authors: Mart Baars, Hans Hellendoorn, Mohsen Alirezaei

Publisher: Springer International Publishing

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

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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.

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A video of the implemented controller in typical cornering conditions can be found at: https://youtu.be/aU6xPavFe4Q.

A video of the implemented controller in high sideslip conditions can be found at: https://youtu.be/VWgdd5jgyuk.

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)

Hindiyeh, R.Y.: Dynamics and control of drifting in automobiles, p. 223, March 2013

Arab, A., Yu, K., Yi, J., Liu, Y.: Motion control of autonomous aggressive vehicle maneuvers, vol. 1, pp. 1663–1668 (2016)

Wachter, E.: Lateral Path Tracking in Limit Handling Condition using SDRE Control (2016)

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

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)

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)

Title

Control of a Scaled Vehicle in and Beyond Stable Limit Handling

Book

Advances in Dynamics of Vehicles on Roads and Tracks

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

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

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

DOI

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

Authors:

Mart Baars
Hans Hellendoorn
Mohsen Alirezaei

Publisher