This paper explores active camber for path following and yaw stability control of over-actuated autonomous electric vehicles (AEVs). The camber effect on tyre force is modelled with a modified Dugoff tyre model, where the influence of tyre slip on camber stiffness is considered. Additionally, a nonlinear vehicle model including the longitudinal, lateral and yaw motion of the vehicle and the rotational motion of the wheels is utilised. The control problem of the AEVs is formulated with model predictive control, where both actuator- and safety-related constraints are considered. Comparative studies show that with four-wheel camber control the path following and yaw stability performance of the AEV can be considerably improved.
Exploring Active Camber for Path Following and Yaw Stability of Autonomous Vehicles
Lect.Notes Mechanical Engineering
The IAVSD International Symposium on Dynamics of Vehicles on Roads and Tracks ; 2019 ; Gothenburg, Sweden August 12, 2019 - August 16, 2019
2020-02-13
9 pages
Article/Chapter (Book)
Electronic Resource
English
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