<div class="csl-bib-body">
<div class="csl-entry">Mandl, P., Edelmann, J., & Plöchl, M. (2023, August). <i>Enhancing controllability and path tracking with overactuated autonomous vehicles</i> [Conference Presentation]. 28th IAVSD International Symposium on Dynamics of Vehicles on Roads and on Tracks - IAVSD 2023, Ottawa, Canada.</div>
</div>
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dc.identifier.uri
http://hdl.handle.net/20.500.12708/189507
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dc.description.abstract
Motion control of autonomous vehicles presents unique challenges in terms of stability and obstacle avoidance.
Especially in critical driving conditions such as $\mu$-low, autonomous vehicles may reach the limits of stability and require the use of all available lateral friction to maintain control and stably follow a reference path, while also taking into consideration collision avoidance.
Overactuated vehicles can mitigate the issue of limited stability and controllability by optimal use of the lateral friction potential by using additional actuators.
To address these challenges, this paper introduces a novel control architecture that combines a linear model predictive controller for tracking with model following and nonlinear control allocation technique. The control allocation method uses torque vectoring and rear wheel steering to extend the linear understeer characteristics and increase the maximum achievable lateral acceleration. Simulations demonstrate that this method reduces the path tracking error and enhances stable maneuvering in critical driving conditions by increasing the vehicle's lateral capabilities.
en
dc.description.sponsorship
FFG - Österr. Forschungsförderungs- gesellschaft mbH
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dc.language.iso
en
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dc.subject
control allocation
en
dc.subject
path tracking
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dc.subject
overactuated vehicles
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dc.title
Enhancing controllability and path tracking with overactuated autonomous vehicles
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dc.type
Presentation
en
dc.type
Vortrag
de
dc.relation.grantno
FO999886467
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dc.type.category
Conference Presentation
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tuw.publication.invited
invited
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tuw.project.title
Zentrales System zur Unterstützung von automatisierten Fahrzeugtests und Betrieb
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tuw.researchTopic.id
E2
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tuw.researchTopic.id
C6
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tuw.researchTopic.name
Sustainable and Low Emission Mobility
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tuw.researchTopic.name
Modeling and Simulation
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tuw.researchTopic.value
50
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tuw.researchTopic.value
50
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tuw.linking
https://iavsd.org/events/iavsd2023/
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tuw.publication.orgunit
E325-01 - Forschungsbereich Technische Dynamik und Fahrzeugdynamik
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tuw.author.orcid
0000-0001-8771-3174
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tuw.event.name
28th IAVSD International Symposium on Dynamics of Vehicles on Roads and on Tracks - IAVSD 2023
en
tuw.event.startdate
21-08-2023
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tuw.event.enddate
25-08-2023
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tuw.event.online
On Site
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tuw.event.type
Event for scientific audience
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tuw.event.place
Ottawa
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tuw.event.country
CA
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tuw.event.institution
National Research Council Canada
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tuw.event.presenter
Mandl, Philipp
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tuw.event.track
Multi Track
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wb.sciencebranch
Maschinenbau
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wb.sciencebranch.oefos
2030
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wb.sciencebranch.value
100
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item.openairetype
conference paper not in proceedings
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item.openairecristype
http://purl.org/coar/resource_type/c_18cp
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item.fulltext
no Fulltext
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item.cerifentitytype
Publications
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item.languageiso639-1
en
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item.grantfulltext
restricted
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crisitem.project.funder
FFG - Österr. Forschungsförderungs- gesellschaft mbH
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crisitem.project.grantno
FO999886467
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crisitem.author.dept
E325-01 - Forschungsbereich Technische Dynamik und Fahrzeugdynamik
-
crisitem.author.dept
E325-01 - Forschungsbereich Technische Dynamik und Fahrzeugdynamik
-
crisitem.author.dept
E325-01 - Forschungsbereich Technische Dynamik und Fahrzeugdynamik