Title: Autonomous vehicle control at the limits of handling

Authors: Krisada Kritayakirana; J. Christian Gerdes

Addresses: Dynamic Design Laboratory, Mechanical Engineering Department, Stanford University, California 94305, USA ' Dynamic Design Laboratory, Mechanical Engineering Department, Stanford University, California 94305, USA

Abstract: 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.

Keywords: autonomous vehicles; vehicle dynamics; vehicle control; handling limits; driver assistance systems; clothoid; traction circles; trail braking; lanekeeping; throttle on exit; g-g diagram; slip circles; bicycle models; speed tracking; racing cars; motorsport; friction limit; autonomous racing controllers; controller design; steering feedback; wheel slip; feedback control; path tracking; tyre adhesion; vehicle safety.

DOI: 10.1504/IJVAS.2012.051270

International Journal of Vehicle Autonomous Systems, 2012 Vol.10 No.4, pp.271 - 296

Received: 28 Apr 2011
Accepted: 25 Dec 2011
Published online: 31 Dec 2014 *