Trajectory Planning Using Tire Thermodynamics for Automated Drifting

Autor:	Kobayashi, Takao, Weber, Trey P., Gerdes, J. Christian
Rok vydání:	2024
Předmět:	Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
Popis:	Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies significantly depending on the tire temperature. However, tire parameters such as the friction coefficient have been conventionally treated as constant values in automated vehicle motion planning. This paper develops a simple thermodynamic model that captures tire friction temperature variation. To verify the model, it is implemented into trajectory planning for automated drifting - a challenging application that requires leveraging an unstable, drifting equilibrium at the friction limits. The proposed method which captures the hidden tire dynamics provides a dynamically feasible trajectory, leading to more precise tracking during experiments with an LQR (Linear Quadratic Regulator) controller. Comment: This manuscript was accepted from IEEE Intelligent Vehicle Symposium (IV 2024) and will be published late August
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2407.12989 Zobrazit plný text záznamu View this record from Arxiv