Future vehicle generations will provide fault-tolerant onboard power supply systems and an increasing level of driving automation. These changes contribute to the applicability of Steer-by-Wire (SbW) systems and the development of automated lateral vehicle guidance control functions. For the market acceptance of automated driving the lateral vehicle guidance control function must be cooperative, that is it must accept driver interventions. The contribution at hand proposes a cooperative lateral vehicle guidance control concept, which enables a true coexistence between manual steering control by the driver and automated steering control. To this end, the lateral vehicle guidance controller for automated driving is initially presented. In contrast to existing approaches, the plant equations are rearranged to isolate the vehicle speed dependent dynamics. Thereafter, the concept of inverse nonlinearity (INL) control is introduced to compensate for their effect. The remaining plant is fully linear and independent of vehicle speed. Consequently, one controller can be synthesized that is valid for all operating points. For considering future reference path information and constraints within the control law, a linear Model Predictive Controller (MPC) is synthesized. The combination of INL control and linear MPC thus results in a Nonlinear Adaptive MPC concept, which makes commonly applied gain scheduling obsolete. The controller is structurally extended by a cooperative dynamic feedforward control for considering driver interventions within the control loop. Consequently, the driver can override the active control and seamlessly modify the lateral vehicle motion. Nonlinear simulation analyses and real vehicle tests demonstrate the effectiveness of the approach.


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    Title :

    Cooperative Lateral Vehicle Guidance Control Concept for Automated Vehicles with Steer-by-Wire Systems


    Additional title:

    Proceedings


    Contributors:

    Conference:

    International ATZ Conference ; 2024 ; Bamberg, Deutschland April 09, 2024 - April 09, 2024


    Published in:

    Automatisiertes Fahren 2024 ; Chapter : 18 ; 217-236


    Publication date :

    2024-07-27


    Size :

    20 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    German






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