Navigation control for electric vehicles using nonlinear state feedback [formula omitted] control

Abstract

The problem of modelling and control for autonomous vehicles is considered. Mutual interactions among vehicle motion dynamics are evaluated. The mathematical model suitable for describing and simulating the whole motion of autonomous passenger vehicles is proposed. The passenger vehicles are evaluated from many points of view, such as riding comfort, vehicle position, stability, manipulability and so on. The performance of vehicle control in technically is separated into several control items and considered for each item, independently. The mathematical model for steering control of an autonomous vehicle usually has two degrees of freedom, which consider the lateral motion and the yawing motion. The model for suspension dynamics, which is deeply related to riding comfort, also has two degrees of freedom, which consider the bouncing motion and the pitching motion. The above mentioned models are not enough to treat the problem of total motion control of autonomous vehicles. The specifications of tires must also be considered in the whole motion control of vehicles, and they have strong nonlinearity. There are, furthermore, mutual interactions among them, which are inevitably considered for the problem of the whole motion control of autonomous passenger vehicles.