文章基本信息

标题：Yaw-Moment Control At-the-Limit of Friction Using Individual Front-Wheel Steering and Four-Wheel Braking
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作者：Victor Fors ; Björn Olofsson ; Lars Nielsen 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：5
页码：458-464
DOI：10.1016/j.ifacol.2019.09.073
语种：English
出版社：Elsevier
摘要：AbstractA simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is still applicable for a vehicle with equal front-wheel angles.
关键词：Keywordstire modelingchassis controlyaw controldeparture preventionoptimal control