Non–linear steering control for limit handling conditions using preview path curvature

Path–following steering control has many applications in autonomous driving, which may one day lead to cars running on autopilot. The developed controller addresses the path–following task by the required path curvature to reach a single preview point ahead of the vehicle as input to the controller. A pre–defined non–linear map of steering angle vs. curvature and vehicle speed is used to calculate the required steering angle. Calibration of the controller is done by performing a simple steady–state circle manoeuvre. The controller is evaluated using both simulations and experiments. Excellent path–following performance is achieved all the way up to the limit of adhesion. The actuation is smooth and the error rarely exceeds 1 m even at lateral acceleration levels of up to 10 m/s².


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  • Accession Number: 01530831
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Jul 10 2014 4:16PM