Slip-Angle Feedback Control for Autonomous Safety-Critical Maneuvers At-the-Limit of Friction
From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed. The controller exploits that the optimal solution tends to be close to the friction limit of the tires. This observation allows for simplifications that enable the use of a proportional feedback control in the control loop, which provides a smooth trajectory promising for realization in an actual control system. The controller is in comparison with an open-loop numerical optimal control solution shown to exhibit promising performance at low computational cost in a challenging turn scenario.
Victor Fors, Björn Olofsson and Lars Nielsen
2018
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