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Optimal Path Recovery for a Vehicle Tracking a Circular Reference Trajectory

Matthijs Klomp (Institutionen för tillämpad mekanik, Fordonssäkerhet ; Extern) ; T. J. Gordon ; Mathias Lidberg (Institutionen för tillämpad mekanik, Fordonssäkerhet)

This paper addresses the problem of path recovery when the speed is too high to permit successful tracking of a circular reference trajectory. The optimal path recovery is formalized as an optimal control problem: to minimize the maximum off-tracking from the desired path. The essential element of the present approach is in the allocation of resultant vehicle forces derived from a simple particle representation. In this case the optimal path recovery is shown to be a classical parabolic trajectory resulting from a constant target acceleration vector. The proposed method yields significantly different outcomes when compared to the more commonly cited yaw moment allocation for understeer mitigation. A performance comparison is made between the two approaches, and the parabolic reference method results in approximately one half the off-tracking of the yaw-moment allocation algorithm. Some generalizations of the problem are also considered, namely non-isotropic friction limits and the use of a spiral reference trajectory.

Denna post skapades 2010-06-14. Senast ändrad 2017-03-21.
CPL Pubid: 122779


Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Fordonssäkerhet (2005-2017)



Chalmers infrastruktur

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Longitudinal Force Distribution and Road Vehicle Handling