Work

Nonlinear Identification of Lateral Dynamics of an Autonomous Car Vehicle

Year: 2024

Type: conference-paper

Abstract: In this paper, the nonlinear identification of the lateral dynamics of a road vehicle and the velocity dependence of the dynamics are presented. One of the most useful methods to define the mathematical model is system identification based on measured data. A test vehicle for autonomous driving was constrained to move in a straight line while the vehicle’s steering servo was artificially excited. The input of the system is therefore the sum of the artificial excitation and the control signal of the autonomous function, and the output is the lateral acceleration of the vehicle. The measurements are used to identify Wiener and Hammerstein models of the lateral dynamics at different speeds using nonlinear methods. The aim is to investigate the velocity dependence of the dynamics.

DOI: 10.3390/engproc2024079053

Authors: Dániel Pup, György Istenes, Ferenc Szauter, József Bokor

Institutions: Széchenyi István University, HUN-REN Institute for Computer Science and Control

Language: English

Topic: Vehicle Dynamics and Control Systems

Subfield: Automotive Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Funder: European Commission

Award: G424312806

OpenAlex ID: W4404332301

FWCI: 1.119

Cites: 13

Cited by: 2

Related to: 10