AUTHOR=Miao Jing , Dai Yifan , Xie Ou , Chen Hao , Niu Fuzhou , Shen Yehu , Wu Yong Zhi , Sun Hui , Niu Xuemei , Zhu Qixin , Shen Wenjiang 

TITLE=Robust Vehicle Dynamics Control for a Sharp Curve With Uncertain Road Condition

JOURNAL=Frontiers in Energy Research

VOLUME=9

YEAR=2021

URL=https://www.frontiersin.org/journals/energy-research/articles/10.3389/fenrg.2021.762246

DOI=10.3389/fenrg.2021.762246

ISSN=2296-598X

ABSTRACT=<p>Recently, more and more research has been conducted to develop Connected Autonomous Vehicles (CAVs) applications that ensures the safety driving of CAVs under some extreme situations. This brief presents a robust control strategy for CAVs to preserve a precise tracking performance and maintain the stability of lateral dynamics when passing a sharp curve with uncertain road friction coefficient changes. In the proposed robust lateral dynamics control, robust optimization-based lateral dynamics controller is designed to achieve the stability of the lateral dynamics with the consideration of the road friction coefficient uncertainty. Simulation validations are carried out to evaluate the proposed control strategy. The results show that the robust optimization-based lateral dynamics can improve the robustness even with the uncertainty of the road friction coefficient.</p>