Some remarks on wheeled autonomous vehicles and the evolution of their control design * * Work partially supported by the French national project IN-OVE/ANR 2010 BLANC 308.

摘要

Recent investigations on the longitudinal and lateral control of wheeled autonomous vehicles are reported. Flatness-based techniques are first introduced via a simplified model. It depends on some physical parameters, like cornering stiffness coefficients of the tires, friction coefficient of the road, ..., which are notoriously difficult to identify. Then a model-free control strategy, which exploits the flat outputs, is proposed. Those outputs also depend on physical parameters which are poorly known, i.e., the vehicle mass and inertia and the position of the center of gravity. A totally model-free control law is therefore adopted. It employs natural output variables, namely the longitudinal velocity and the lateral deviation of the vehicle. This last method, which is easily understandable and implement able, ensures a robust trajectory tracking problem in both longitudinal and lateral dynamics. Several convincing computer simulations are displayed.