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Autonomous vehicle control at the limits of handling
Open accessAbstract
Racecar drivers have the ability to operate a vehicle at its friction limit without losing control.If autonomous vehicles or driver assistance systems had similar capabilities, many fatal accidents could be avoided.To advance this goal, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits.A bicycle model and a 'g-g' diagram are used to mimic racecar drivers' internal vehicle model.Lanekeeping steering feedback and wheel slip feedback controllers are used to imitate drivers making steering and throttle corrections according to the vehicle responses.Experimental results on a low friction surface demonstrate that the controller can robustly track a path while operating at the limits of tyre adhesion and provide insights for the future development of vehicle safety systems.
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Cited by
A Review of Motion Planning Techniques for Automated Vehicles
Gonzalez, D., Perez, J., Milanes, V., & Nashashibi, F. (2016) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2015.2498841 · Cited by 1,670
Outracing champion Gran Turismo drivers with deep reinforcement learning
Wurman, P. R., Barrett, S., Kawamoto, K., MacGlashan, J., Subramanian, K., Walsh, T. J., Capobianco, R., Devlic, A., Eckert, F., Fuchs, F., et al. (2022) · Nature · doi:10.1038/s41586-021-04357-7 · Cited by 369
Safe driving envelopes for path tracking in autonomous vehicles
Brown, M., Funke, J., Erlien, S., & Gerdes, J. C. (2017) · Control Engineering Practice · doi:10.1016/j.conengprac.2016.04.013 · Cited by 353
Self-citationAutonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing
Betz, J., Zheng, H., Liniger, A., Rosolia, U., Karle, P., Behl, M., Krovi, V., & Mangharam, R. (2022) · IEEE Open Journal of Intelligent Transportation Systems · doi:10.1109/ojits.2022.3181510 · Cited by 322
A Model Predictive Controller With Switched Tracking Error for Autonomous Vehicle Path Tracking
Sun, C., Zhang, X., Zhou, Q., & Tian, Y. (2019) · IEEE Access · doi:10.1109/access.2019.2912094 · Cited by 144
Metadata
- Authors
- Kritayakirana, K., & Gerdes, J. C.
- Venue
- International Journal of Vehicle Autonomous Systems
- Publisher
- Inderscience Publishers
- Published
- 2012
- Volume
- 10
- Issue
- 4
- Pages
- 271
- ISSN
- 1471-0226 (ISSN-L)
- 1741-5306
- OpenAlex
- W2023136445
- Cited by
- 190
- References
- 0
- FWCI
- 18.48
- Type
- journal article
- Language
- en
- Open access
- bronze
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
