A New Steering System Control Design for Autonomous Passenger Vehicles
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Beschreibung
This work investigates the challenge of steering system positional control with a specific view to autonomous driving. Positional control of steering systems has, until now, been under-researched to meet the performance scope of fully autonomous driving. As such, a parallel axis steering gear, found in luxury vehicles, is the target system for this work. The focus of this thesis is a model-based approach to steering control. Moreover, these models are developed using measurement based techniques, thereby determining the main factors reproducing the system behaviour.
Autor*in
Vivan Govender
Themen in »A New Steering System Control Design for Autonomous Passenger Vehicles«
Vehicle slip angle rad, Schräglaufwinkel des Fahrzeugs Drehbeschleunigung des Lenkrads, steering wheel rotational acceleration Drehgeschwindigkeit des Lenkrads, Steering wheel rotational velocity Rotorposition des Elektromotors, Rotor position of the electric motor Gierrate des Fahrzeugs, Vehicle yaw rate Trägheitsmoment des Fahrzeugs, moment of inertia of the vehicle Kombinierter Reifenweg, Combined tyre trail Stribeck-Geschwindigkeit, Stribeck velocity Lugre-Funktion Stibeck-Auslenkung Lugre function Stibeck deflection