Steering vehicle control to detect critical driving situations: Performance tests

MENHOUR ; LECHNER ; CHARARA

Type de document
ARTICLE A COMITE DE LECTURE REPERTORIE DANS BDI (ACL)
Langue
anglais
Auteur
MENHOUR ; LECHNER ; CHARARA
Résumé / Abstract
This present paper proposes a switching steering vehicle control which is composed of MPIDy and MPD controllers to correct the lateral deviation and the yaw angle respectively. The controllers are designed using LMI-LQR method and a set of local linear bicycle models. These models are obtained around a set of longitudinal speed values. The gains of the controllers are managed by two switches depending on the longitudinal speed. The steering control has been developed for an application that aims to identify the maximum achievable speed in a bend. This application requires a steering control to drive a nonlinear four wheel vehicle model, making speed extrapolation tests, and evaluating the physical limits of a vehicle in a bend. This study includes performance tests using two vehicle models and experimental data from the Peugeot 307 prototype vehicle developed by IFSTTAR. Lateral vehicle control, comparison with experimental data, high dynamic loads, LMI-LQR, switching system
Source