摘要：AbstractA simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is still applicable for a vehicle with equal front-wheel angles.
关键词：Keywordstire modelingchassis controlyaw controldeparture preventionoptimal control
