Skip to main content

Path Control in Limits of Vehicle Handling: A Sensitivity Analysis

Part of the Lecture Notes in Mechanical Engineering book series (LNME)

Abstract

Sensitivity analysis of a feedback-feedforward steering controller for lateral path tracking whilst the vehicle operates in limit handling is the main objective of this paper. The sensitivity analysis is executed by simulation and the effectiveness of the controller is evaluated in a test vehicle on a low friction skid pad. The results demonstrate that the controller is capable to achieve robust path tracking in limit handling condition for the variety of driving conditions with sufficient stability.

Keywords

  • Limit handling
  • SDRE
  • Steering
  • Lateral

This is a preview of subscription content, access via your institution.

Buying options

Chapter
USD   29.95
Price excludes VAT (USA)
  • DOI: 10.1007/978-3-030-38077-9_126
  • Chapter length: 7 pages
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
eBook
USD   469.00
Price excludes VAT (USA)
  • ISBN: 978-3-030-38077-9
  • Instant PDF download
  • Readable on all devices
  • Own it forever
  • Exclusive offer for individuals only
  • Tax calculation will be finalised during checkout
Softcover Book
USD   599.99
Price excludes VAT (USA)
Hardcover Book
USD   599.99
Price excludes VAT (USA)
Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.

References

  1. Bonsen, B., Mansvelders, R., Vermeer, E.: Integrated vehicle dynamics control using State Dependent Riccati Equations. In: 10th International Symposium on Advanced Vehicle Control, AVEC 2010, Loughborough, United Kingdom (2010)

    Google Scholar 

  2. Alirezaei, M., Kanarachos, S., Scheepers, B.: Experimental evaluation of optimal vehicle dynamic control based on the State Dependent Ricatti Equation technique. In: 2013 IEEE American Control Conference, pp. 408–412 (2013)

    Google Scholar 

  3. Kapania, N.R., Gerdes, J.C.: Design of a feedback-feedforward steering controller for accurate path tracking and stability at the limits of handling. Veh. Syst. Dyn. 53(12), 1687–1704 (2015)

    CrossRef  Google Scholar 

  4. Wachter, E., Alirezaei, M., Bruzelius, F., Schmeitz, A.: Path control in limit handling and drifting conditions using State Dependent Riccati Equation (SDRE) technique. Proc. IMechE Part D J. Automob. Eng. (2019) . https://doi.org/10.1177/0954407019850737

  5. Wachter, E.: Lateral path tracking in limit handling condition using SDRE control. Master’s thesis, Chalmers University of Technology (2016)

    Google Scholar 

  6. Pacejka, H.: Tire and Vehicle Dynamics, 3rd edn. Elsevier, Amsterdam (2012)

    Google Scholar 

  7. Košecká, J., Blasi, R., Taylor, C.J., et al.: A comparative study of vision-based lateral control strategies for autonomous highway driving. In: 1998 IEEE International Conference on Robotics and Automation, vol. 3, pp. 1903–1908 (1998)

    Google Scholar 

  8. Alirezaei, M., Corno, M., Ghaffari, A., et al.: A new approach to the design of coordinated road departure avoidance systems. Proc. Inst. Mech. Eng. Part K J. Multi-Body Dyn. 226(1), 45–60 (2012)

    Google Scholar 

  9. Çimen, T.: State-Dependent Riccati Equation (SDRE) control: a survey. In: Proceedings of the 17th World Congress, The International Federation of Automatic Control, vol. 41, pp. 3761–3775 (2008)

    Google Scholar 

  10. Alirezaei, M., Jansen, S., Schmeitz, A., et al.: Collision avoidance system using State Dependent Riccati Equation technique: an experimental robustness evaluation. In: Proceedings of the 13th International Symposium on Advanced Vehicle Control (AVEC 2016), Munich, Germany (2016)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Mohsen Alirezaei .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this paper

Verify currency and authenticity via CrossMark

Cite this paper

Wachter, E., Schmeitz, A., Bruzelius, F., Alirezaei, M. (2020). Path Control in Limits of Vehicle Handling: A Sensitivity Analysis. In: Klomp, M., Bruzelius, F., Nielsen, J., Hillemyr, A. (eds) Advances in Dynamics of Vehicles on Roads and Tracks. IAVSD 2019. Lecture Notes in Mechanical Engineering. Springer, Cham. https://doi.org/10.1007/978-3-030-38077-9_126

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-38077-9_126

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-38076-2

  • Online ISBN: 978-3-030-38077-9

  • eBook Packages: EngineeringEngineering (R0)