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Steffen Kehl, Wolf-Dieter Pölsler, Michael Zeitz
Lateral Control of a Test Vehicle along Predefined Paths
Keywords: tracking control, two-degree of freedom structure, nonlinear feedforward control, path-planning, GPS-aided inertial navigation system
In course of the development of a passenger car reproducible driving tests are necessary, in order to characterize the vehicle dynamics objectively. Therefore, a path-following control to realize aggressive test scenarios has been developed and implemented in two test vehicles on a realtime platform. It guides the vehicle even under high lateral accelerations on a test track along predefined paths. The path-planning is either realized synthetically or based on the measurement of a driven path. The lateral regulation is realized by the use of a satellite-based inertial navigation system, a data recording system and a servo steering machine. The model-based path-following control has a two-degree of freedom structure with a model-based nonlinear feedforward and a stabilizing linear feedback control. The developed lateral control has been examined in simulations with a validated detailled vehicle model and tested experimentally in various test scenarios.
at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag
Print ISSN: 0178-2312
Volume: 55, 06/2007
Pages: 306 - 313