Problem
Research questions and friction points this paper is trying to address.
stability control
autonomous racing
external influences
vehicle instability
motion control algorithms
Stability Control for Real World Testing in Autonomous Racing
🤖 AI Summary
为解决自动驾驶赛车在极限操控下的稳定性问题，提出了一种包含电子稳定控制、滑移控制和反向转向系统的综合稳定性控制系统，并通过仿真和实车测试验证了其有效性。
📝 Abstract
Controlling an autonomous vehicle at the limits of handling is a challenging task. Due to external influences, such as road conditions or weather, a vehicle can easily become unstable. Since most control algorithms assume stable vehicle behavior, they might fail in these situations. Especially when operating expensive vehicles without a safety driver on board, as in autonomous racing, this poses a significant challenge. To enable safe operation at the vehicle's dynamic limits, we present a comprehensive stability control system that safeguards motion control algorithms in autonomous driving. The proposed system consists of an electronic stability control (ESC), a slip control (SC), and a countersteer system (CS), which collectively adapt steering and brake commands from the motion controller to maintain vehicle stability. We validate our approach through both simulation and experiments on a real-world, full-scale vehicle. The results show that the stability control system maintains vehicle stability in critical situations and extends the operational feasible region. To simplify integration, we provide an open-source implementation at github.com/TUMFTM/tam-stability-control.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Stability Control
Autonomous Racing
Electronic Stability Control (ESC)
Slip Control (SC)
Countersteer System (CS)
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