Predictive Compensation-Based Handling Stability Control Systems for Autonomous Vehicles under Transient Crosswind

Abstract

The strong transient crosswind has huge impact on the driving state of the autonomous vehicles, which requires the control system with good handling stability. Here, a predictive compensation-based handling stability control system (PCHSCS) is developed. The PCHSCS includes three parts: a steering controller, a speed controller, and a predictor. The steering controller is adopted to control the course for resisting the lateral acceleration caused by the crosswind. The speed controller is utilized to maintain the vehicle speed, decreasing the undesired longitudinal acceleration. The predictor is applied to predict the control error and the coupling interference. The predicted information, as compensation, is combined and fed to the speed controller and the steering controller. Simulation proves the PCHSCS can improve the vehicle handling stability under strong transient crosswind conditions.