Autonomous Vehicle front steering control computation saving

摘要

For autonomous vehicles lane keeping purposes it is crucial to control the vehicle yaw rate. As it is known a vehicle yaw rate control can be achieved handling the steering angle. One option is to consider a robust controller and depending of the requirements the synthesis can drive to a high order controller. Nowadays this kind of vehicles needs a networked based control (IVN -Intelligent Vehicle Network-)with a considerable amount of control loops for different vehicle components. Therefore, in this environment the controllers computation saving could be a good option for unload the network and digital processors. That is the main target of this contribution; in order to accomplish this goal a interlacing implementation technique is considered. Results in a real path tracking illustrates viability of this procedure.