Robust Control of Autonomous Vehicles in the Case of Dangerous Situation

In this work, some full models that are mainly used for the control synthesis have been introduced for vehicles moving at a curve on a rough surface. The safety performance of an autonomous vehicle based on the longitudinal, lateral and yaw dynamics were investigated. Moreover, steering and braking control under dangerous situations and yaw rate dynamics are of interest in this research. The dangerous situation was modelled as an external disturbance to the vehicle, and as such variations were investigated by the implementation of three controllers: LQR, H infinity – one degree and two-degree controllers. After analysis, H-infinity control approached was found to have the best solution for stability control of yaw vehicle dynamics.