Effects of Model Complexity on the Performance of Automated Vehicle Steering Controllers: Model Development, Validation and Comparison |
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Authors: | Dirk E Smith John M Starkey |
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Institution: |
a 2508 CEBA Mechanical Engineering, Louisiana State University, Baton Rouge, LA, USA
b 1288 Mechanical Engineering Building, Purdue University, West Lafayette, IN, USA |
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Abstract: | Recent research on autonomous highway vehicles has begun to focus on lateral control strategies. The initial work has focused on vehicle control during low-g maneuvers at constant vehicle speed, typical of lane merging and normal highway driving. In this paper, and its companion paper, to follow, the lateral control of vehicles during high-g emergency maneuvers is addressed. Models of the vehicle dynamics are developed, showing the accuracy of the different models under low and high-g conditions. Specifically, body roll, tire and drive-train dynamics, tire force saturation, and tire side force lag are shown to be important effects to include in models for emergency maneuvers. Current controllers, designed for low-g maneuvers only, neglect these effects. The follow on paper demonstrates the performance of lateral controllers during high-g lateral emergency maneuvers using these vehicle models. |
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