Modelling the dynamic behavior of the steering system for low speed autonomous path tracking

In the future, the appearance of highly automated vehicles is expected, the driver assistance systems will become more common in the vehicles. Initially, these systems are only supported the driver, but increasingly take over the control of the entire vehicle. In this practice, the vehicle must plan the route and follow it safely while providing a comfortable journey for passengers. In order to develop the path following controller, it is first tested in a simulation environment and then on a real vehicle. In a previous paper, authors have implemented different path following controllers that were tested on a demonstration vehicle after testing in the simulation environment. In the simulation environment, the controllers were tested on a dynamic bicycle model, which model describes the lateral dynamics of the vehicle. The simulation and measurement results showed a difference. The subject of this paper is to find out the reason of the difference that was identified in the dynamic behavior of the steering system, including the effect of the tires. Based on these, the vehicle model was adjusted. Measurements were made to identify the dynamics of the steering system, and the tires. Analyzing the results of the measurements, the dynamic model of the steering system was described, the vehicle model has been expanded on this basis. Finally, the path following simulation with the improved model was calculated, which was compared to the real vehicle measurement and the results showed good correlation.

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