Yaw Rate Control in Autonomous Electric Vehicles: A Steering-Based Approach

Diogo Gabriel da Silva Bento

Key information

Authors:

Diogo Gabriel da Silva Bento (Diogo Gabriel da Silva Bento)

Supervisors:

João Filipe Pereira Fernandes (João Filipe Pereira Fernandes); José António Da Cruz Pinto Gaspar (José António Da Cruz Pinto Gaspar)

Published in

06/14/2024

Abstract

The rise of autonomous vehicles presents numerous challenges for vehicle control systems, particularly in ensuring safety standards that meet or exceed those of human drivers. For widespread adoption, autonomous vehicles must demonstrate superior safety and reliability. Historically, vehicle safety has significantly improved with the introduction of technologies such as seatbelts, anti-lock braking systems (ABS) and electronic stability control (ESC), all of which are now standard and have been proven to save lives. This thesis proposes a novel controller aimed at further enhancing vehicle safety: a steering-based yaw rate controller. This controller focuses on the steering system, a critical component responsible for guiding the vehicle along its desired trajectory. The advancements in autonomous vehicles and the implementation of steer-by-wire technology have enabled the development of this innovative control approach. Extensive simulation experiments were conducted to evaluate the performance of the proposed steering-based yaw rate controller as part of the VIENA project. These simulations utilized the standardized double lane-change manoeuvre to test the controller’s effectiveness in maintaining vehicle stability and adhering to the desired path. The results obtained from these simulations are promising, indicating significant improvements in vehicle stability and control compared to previously used systems. The findings suggest that the proposed controller has the potential to enhance the safety of vehicles. This research underscores the importance of continuous innovation in control systems to ensure the safe and reliable operation of autonomous vehicles, paving the way for their broader acceptance and integration into everyday life.