@inproceedings{75ad96da7b324a15915743b6fa3fc9e7,
title = "Importance of Vertical Dynamics for Accurate Modelling, Friction Estimation and Vehicle Motion Control",
abstract = "Autonomous vehicles are round the corner. Most of car manufacturers are racing to become a leader in this promising market. In this paper, we focus on one of the remaining challenges to be overcome, namely, the control of vehicle motion when friction varies. Researchers tend to estimate the friction coefficient using complex observers based on simple mathematical equation. We believe that by taken into account some formerly simplified dynamics, as roll dynamics, we can reduce the estimations' errors, and therefore use simple observers. Co-simulations of the control logic with a high-fidelity vehicle model proved the relevance of this method. Results showed that the vehicle can be controlled in severe conditions while the friction changes using only today's passenger cars sensors. Vertical dynamics should therefore be taken into account even for plane motions.",
keywords = "Control Allocation, Friction Estimation, Robust Control, Vehicle Motion Control, Vertical Dynamics",
author = "Moad Kissai and Bruno Monsuez and Xavier Mouton and Didier Martinez and Adriana Tapus",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 21st IEEE International Conference on Intelligent Transportation Systems, ITSC 2018 ; Conference date: 04-11-2018 Through 07-11-2018",
year = "2018",
month = dec,
day = "7",
doi = "10.1109/ITSC.2018.8569751",
language = "English",
series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1370--1377",
booktitle = "2018 IEEE Intelligent Transportation Systems Conference, ITSC 2018",
}