Vehicle lateral dynamics control

Abstract

This document deals with the controlled system of lateral vehicle dynamics regulated in terms of a reference model outputs. The reference model means a simplified mathematical vehicle model, which describes the desired lateral movements of a vehicle. The output of the reference model produces the most optimal trajectory in various driving conditions. The target of the control strategy is to hold the vehicle on this trajectory. Mathematical model of the vehicle and the reference model were created in the Matlab – Simulink software. The final product of the regulation was the corrective torque that had the stabilization effect on the controlled vehicle. By the simulations there were used user-defined maneuvres such as curve driving, avoidance maneuvre together with maneuvres defined by directives. The result was the comparison of the produced corrective torques of the control strategy for the defined driving states.