@inproceedings{8a0d5a2051f94876b6b5a4fb39ff89e7,
title = "Exploring Active Camber for Path Following and Yaw Stability of Autonomous Vehicles",
abstract = "This paper explores active camber for path following and yaw stability control of over-actuated autonomous electric vehicles (AEVs). The camber effect on tyre force is modelled with a modified Dugoff tyre model, where the influence of tyre slip on camber stiffness is considered. Additionally, a nonlinear vehicle model including the longitudinal, lateral and yaw motion of the vehicle and the rotational motion of the wheels is utilised. The control problem of the AEVs is formulated with model predictive control, where both actuator- and safety-related constraints are considered. Comparative studies show that with four-wheel camber control the path following and yaw stability performance of the AEV can be considerably improved.",
keywords = "Active camber, Autonomous vehicle, Model predictive control, Over actuation, Yaw stability",
author = "Wenliang Zhang and Lars Drugge and Mikael Nybacka and Zhenpo Wang",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Switzerland AG.; 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019 ; Conference date: 12-08-2019 Through 16-08-2019",
year = "2020",
doi = "10.1007/978-3-030-38077-9\_171",
language = "English",
isbn = "9783030380762",
series = "Lecture Notes in Mechanical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "1491--1499",
editor = "Matthijs Klomp and Fredrik Bruzelius and Jens Nielsen and Angela Hillemyr",
booktitle = "Advances in Dynamics of Vehicles on Roads and Tracks - Proceedings of the 26th Symposium of the International Association of Vehicle System Dynamics, IAVSD 2019",
address = "Germany",
}