This chapter begins with the model predictive control method due to its widespread use in automotive control applications and increasing use in path‐tracking control. It presents the robust gain‐scheduling controller design method, which is applied to automated vehicle lateral control. The integration of the road friction coefficient estimation module greatly enhances the safety of autonomous driving under adverse road conditions. Vehicle stability control is used in series production vehicles to deal with the danger of losing vehicle control or stability in versatile cases, such as over‐reacted steering maneuver at high speed, driving on slippery icy road in winter, or being suddenly subjected to strong cross‐wind. The chapter also presents and uses different strategies to determine the amount of extra yaw moment that is required, followed by differential braking distribution and simulation results.
Robust Path Tracking Control
2021-12-21
43 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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