Integrated Path Tracking with DYC and MPC using LSTM Based Tire Force Estimator for Four-wheel Independent Steering and Driving Vehicle

Active collision avoidance system plays a crucial role in ensuring the lateral safety of autonomous vehicles, and it is primarily related to path planning and tracking control algorithms. In particular, the direct yaw-moment control (DYC) system can significantly improve the lateral stability of a v...

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Hauptverfasser:	Lim, Sungjin, Sadiq, Bilal, Jin, Yongsik, Lee, Sangho, Choi, Gyeungho, Nam, Kanghyun, Lim, Yongseob
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Robotics Computer Science - Systems and Control
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