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Exploring Active Camber for Path Following and Yaw Stability of Autonomous Vehicles
KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics. School of Mechanical Engineering, Beijing Institute of Technology.ORCID iD: 0000-0002-4504-6059
KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.ORCID iD: 0000-0001-8928-0368
KTH, School of Engineering Sciences (SCI), Engineering Mechanics, Vehicle Engineering and Solid Mechanics, Vehicle Dynamics.ORCID iD: 0000-0002-2265-9004
School of Mechanical Engineering, Beijing Institute of Technology.
2020 (English)In: Advances in Dynamics of Vehicles on Roads and Tracks, Springer, 2020, p. 1491-1499Chapter in book (Refereed)
Abstract [en]

This paper explores active camber for path following and yaw stability control of over-actuated autonomous electric vehicles (AEVs). The camber effect on tyre force is modelled with a modified Dugoff tyre model, where the influence of tyre slip on camber stiffness is considered. Additionally, a nonlinear vehicle model including the longitudinal, lateral and yaw motion of the vehicle and the rotational motion of the wheels is utilised. The control problem of the AEVs is formulated with model predictive control, where both actuator- and safety-related constraints are considered. Comparative studies show that with four-wheel camber control the path following and yaw stability performance of the AEV can be considerably improved.

Place, publisher, year, edition, pages
Springer, 2020. p. 1491-1499
Series
Lecture Notes in Mechanical Engineering, ISSN 2195-4364
Keywords [en]
Active camber, model predictive control, yaw stability, over actuation, autonomous vehicle
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering; SRA - Transport
Identifiers
URN: urn:nbn:se:kth:diva-269053DOI: 10.1007/978-3-030-38077-9_171Scopus ID: 2-s2.0-85081544416ISBN: 978-3-030-38077-9 (electronic)OAI: oai:DiVA.org:kth-269053DiVA, id: diva2:1408939
Funder
TrenOp, Transport Research Environment with Novel Perspectives
Note

QC 20200528

Available from: 2020-02-29 Created: 2020-02-29 Last updated: 2020-05-28Bibliographically approved

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