Longitudinal and lateral control for four wheel steering vehicles

Laëtitia Li (1) , Brigitte d'Andréa-Novel (2) , Arnaud Quadrat (1)

1 SAFRAN Electronics & Defense
2 CAOR - Centre de Robotique

Vehicles evolving in harsh terrains are subject to physical phenomena with a much more important impact than in the case of road vehicle. The main problem we have to face is tire slippery which has to be taken into account when designing the control law to ensure an accurate tracking. In this paper we present a controller for cars equipped with 4 steering wheels. An accurate automatic trajectory tracking via vehicle wheel torque, front and rear steering is developed. This controller takes into account nonlinear tire effects to increase vehicle stability in presence of sliding. Promising results have been obtained with numerical simulations.

Mots clés: Trajectory Tracking and Path Following; Autonomous Vehicles; Vehicle dynamic systems

Domaines: Mathématiques [math]

Laëtitia Li, Brigitte d'Andréa-Novel, Arnaud Quadrat. Longitudinal and lateral control for four wheel steering vehicles. 1st Virtual IFAC World Congress (IFAC-V 2020), Jul 2020, en ligne, Germany. ⟨hal-02956925⟩