Vehicle Dynamics Control in MAGV: Forces Estimation and Motion Planning Methods
Università degli studi di Pavia, 2020
Online
Hochschulschrift
Zugriff:
In recent years car manufacturers and tech companies have been investing huge resources to develop autonomous driving vehicles, with the aim of enhancing the efficiency of transports and the safety of passengers on the roads. Nowadays, several vehicles on the market are equipped with driving assistant devices, ranging from self parking and automatic braking systems up to an effective and real autonomous driving. A Multi-Actuated Ground Vehicles (MAGV) can be considered as a complex engineering system having a set of parallel subsystems requiring both individual and integrated control to secure simultaneously criteria of efficient dynamics, safety, and user (and environment) friendly operation. Within this context, the topics of passenger safety, driving quality and energetic efficiency have become of interest in particular for computer and control engineers, with this trend increasing its momentum exponentially. To shed light on the scientific aspects of these devices, a survey of some of the most successful vehicle stability control system is provided in the first part of this dissertation, with particular focus on those which utilize the well established Sliding Mode Control technique (SMC). Advanced Driver Assistance Systems (ADAS), such as the already mentioned ESC and ABS, as well as Automated Driving (AD) technologies, can be enhanced by the knowledge of vehicle planar motion states (longitudinal and lateral velocities of the center-of-gravity and side-slip angles). In particular, the estimation of tire-ground contact forces has become an important subject of investigation. In fact, the knowledge of the forces exerted can help to prevent over-steering or under-steering phenomena, which often generate accidents. This can be caused by a tire undergoing excessive slip/skid, so that the driver does not reach the intended trajectory. Currently, sensors exist able to measure tire-ground forces. Nevertheless, their cost amounts to several tens thousand euros per piece, which makes them incompatible with ...
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Vehicle Dynamics Control in MAGV: Forces Estimation and Motion Planning Methods
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Autor/in / Beteiligte Person: | REGOLIN, ENRICO ; Regolin, Enrico ; FERRARA, ANTONELLA |
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Veröffentlichung: | Università degli studi di Pavia, 2020 |
Medientyp: | Hochschulschrift |
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