The issues of autonomous vehicle stability during step steer manoeuvre in different road friction conditions

Abstract

The stricter vehicle safety, ecology, and comfort demands and the development of the intelligent technologies prompt the appearance of the autonomous vehicles on our roads. That is also significant in applications, like military or agricultural. For the safe use of the autonomous vehicles and for their development it is necessary to ensure smooth interaction with the infrastructure of the roads and to solve issues that arise with the changing road conditions. One of the main ones is the different grip of the wheels to the road surface conditions. In the presented research, a robotised vehicle steering system is used and the different grip of the wheels to the road surface conditions were created by using the vehicle skidcar system. With the help of these systems, the problem analysis of the stability of the autonomous vehicle during steep steer manoeuvre was done. The results, collected during the experimental test, are presented and discussed.