Steady-state cornering equilibria and stabilisation for a vehicle during extreme operating conditions Online publication date: Mon, 04-Oct-2010
by Efstathios Velenis, Emilio Frazzoli, Panagiotis Tsiotras
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 8, No. 2/3/4, 2010
Abstract: In this work we study steady-state cornering conditions for a single-track vehicle model, without imposing restrictive conditions on the tyre slip. Inspired by recent progress in the understanding of advanced driving techniques, we design a sliding-mode control scheme stabilising steady-state cornering conditions, using only longitudinal control inputs, i.e., accelerating/braking torques applied at the front and/or rear wheels. The effectiveness of the control scheme is demonstrated in a variety of simulation scenarios, motivated by competitive race driving. Results are presented using both the baseline model, and an increased-fidelity model taking into account suspension dynamics.
Online publication date: Mon, 04-Oct-2010
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