Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control
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310424126-MIT.pdf
Description
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3.54 MB
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Author(s)
Truax, Robert D. (Robert Denison)
Advisor(s)
John J. Leonard.
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, the side slip control dynamics of the Land Rover LR3 platform are examined for autonomous control. As autonomy becomes implemented in high speed safety applications, the importance of an accurate model for the vehicle becomes crucial for obstacle avoidance and emergency maneuvers. Testing on public highways under normal operation shows a slip ratio drop to 70% of the no-slip model, indicating a need for model improvement. By defining the slip ratio as a function of velocity with a slope of -0.018 ± 0.002 seconds per meter and a y-intercept of 1.23 + .04, much of this error may be reduced. While a more complex relationship may exist between the slip ratio, vehicle velocity, and the steering command, the noise and inaccuracy of the sensor prevent a more precise analysis.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.
Includes bibliographical references.
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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