Identification of LPV vehicle models for steering control involving asymmetric front wheel braking

Abstract

Velocity-scheduled LPV steering models for road-vehicles are presented and a method is given for identifying them. The aim is to build models for steering controllers that navigate the vehicle either directly by the steering system or by asymmetric braking of the front wheels. These models are useful e.g. for autonomous vehicles and for safety control in steer-by-wire systems. A continuous-time physical model is developed in state-space, then various complexity LPV models are derived and identified based on in-situ measurements of a truck.