Dynamic inversion-based control for front wheel drive autonomous ground vehicles near the limits of handling

摘要

Road traffic crashes are the leading cause of death among young people between 10 and 24 years old. Several safety systems for near the limits of handling scenarios such as Electronic Stability Control (ESC) and Active Front Steering (AFS) have been introduced in the past recent years. Vehicle stability in limit situations is extremely important to current driver assistance systems (DAS) and a safe control of Autonomous Ground Vehicles (AGV). This paper proposes an exponentially convergent dynamical model inversion based control for driving front wheel driven autonomous vehicles near tire-road friction saturation limits. Using a nonlinear planar bicycle model as basis, this control technique presented significative results under simulations even in cases of curvature non-continuities.