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Velocity Planning for a Racing Driver Model

Arun Kumar Subbanna (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Fredrik Bruzelius (Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system) ; Edo Drenth ; Ivar Torstensson ; Peter Sundström
Proceedings of the 11th In- ternational Symposium on Advanced Vehicle Control (AVEC ’12), Seoul Korea, (2012)
[Konferensbidrag, refereegranskat]

There is limited information found in literature concerning simulation of limit handling capability of a vehicle model using a driver model. Determining the limit handling capabilities can be a valuable tool for development and analysis of vehicle designs and using a driver model is a convenient way of achieving this . This work presents two different strategies to a driver models that uses the lane for lateral position and limited a priori information about the track in the form of pre-view about curvature ahead of the car. These driver models results in longitudinal velocity planners that uses one single and one multi preview of the reference path. Both strategies have been implemented in the Vehicle Dynamics Library from Modelon using the Modellica language and simulated to illustrate their performance.



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Denna post skapades 2014-01-09.
CPL Pubid: 191920

 

Institutioner (Chalmers)

Institutionen för tillämpad mekanik, Fordonsteknik och autonoma system (2010-2017)

Ämnesområden

Transport
Farkostteknik

Chalmers infrastruktur