Dynamics control of autonomous vehicle at driving limits and experiment on an autonomous formula racing car

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• 作者：Jun Ni ; Jibin Hu ; ^{hujibin1970@163.com}
• 关键词：Autonomous vehicle ; Electric vehicle ; Path following ; Limit driving ; Vehicle dynamics control
• 刊名：Mechanical Systems and Signal Processing
• 出版年：2017
• 出版时间：June 2017
• 年：2017
• 卷：90
• 期：Complete
• 页码：154-174
• 全文大小：3870 K
• 卷排序：90

文摘

In this paper, a novel dynamics controller for autonomous vehicle to simultaneously control it to the driving limits and follow the desired path is proposed. The dynamics controller consists of longitudinal and lateral controllers. In longitudinal controller, the G-G diagram is utilized to describe the driving and handling limits of the vehicle. The accurate G-G diagram is obtained based on phase plane approach and a nonlinear vehicle dynamic model with accurate tyre model. In lateral controller, the tyre cornering stiffness is estimated to improve the robustness of the controller. The stability analysis of the closed-looped error dynamics shows that the controller remains stable against parameters uncertainties in extreme condition such as tyre saturation. Finally, an electric autonomous Formula race car developed by the authors is used to validate the proposed controller. The autonomous driving experiment on an oval race track shows the efficiency and robustness of the proposed controller.