Vörös, Illés and Takács, Dénes (2023) The effects of road curvature on the stability of path-following of automated vehicles. In: 3rd International Nonlinear Dynamics Conference, NODYCON, 2023.06.18-2023.06.22, Roma.
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Abstract
The stability analysis of a path-following controller for automated vehicles is presented, with the consideration of path curvature and feedback delay. The analysis is based on a kinematic vehicle model expressed in a path reference frame. The steering controller includes feedforward and feedback terms, and the time delay in the control loop is also considered. The effects of the path curvature are analyzed using compact analytical expressions, stability charts and numerical simulations. The results help the designer select the optimal control gains and the limitations of tuning the controller with the assumption of a straight-line reference path are also shown.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | vehicle dynamics, time delay, lane-keeping control, steering control, stability |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 30 Oct 2023 10:31 |
| Last Modified: | 30 Oct 2023 10:31 |
| URI: | http://real.mtak.hu/id/eprint/178109 |
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