为自动驾驶赛车设计稳定控制系统，防止高速失控。
Stability Control for Real World Testing in Autonomous Racing
- 融合ESC、滑移控制与反打方向，动态调整转向刹车指令
- 实车测试中显著提升极限工况下的车辆稳定性
- 适合高阶自动驾驶研发与竞赛场景，开源可直接部署
在车辆操控极限下控制自动驾驶汽车是一项极具挑战的任务。由于道路状况或天气等外部因素影响，车辆极易失稳。由于多数控制算法假设车辆行为稳定，因此在这些情况下可能失效。尤其在无安全驾驶员的自动驾驶赛车中，这一问题尤为突出。为此，我们提出一套完整的稳定性控制系统，以保障自动驾驶运动控制算法的安全运行。该系统由电子稳定控制（ESC）、滑移控制（SC）和反打方向系统（CS）组成，协同调整运动控制器发出的转向与制动指令，确保车辆稳定。我们在仿真与真实全尺寸车辆实验中验证了该方法的有效性。结果表明，该系统能在危急情况下维持车辆稳定，并显著扩展可操作的可行区域。为便于集成，我们已在github.com/TUMFTM/tam-stability-control提供开源实现。
原文摘要 · Abstract (English)
Controlling an autonomous vehicle at the limits of handling is a challenging task. Due to external influences, such as road conditions or weather, a vehicle can easily become unstable. Since most control algorithms assume stable vehicle behavior, they might fail in these situations. Especially when operating expensive vehicles without a safety driver on board, as in autonomous racing, this poses a significant challenge. To enable safe operation at the vehicle's dynamic limits, we present a comprehensive stability control system that safeguards motion control algorithms in autonomous driving. The proposed system consists of an electronic stability control (ESC), a slip control (SC), and a countersteer system (CS), which collectively adapt steering and brake commands from the motion controller to maintain vehicle stability. We validate our approach through both simulation and experiments on a real-world, full-scale vehicle. The results show that the stability control system maintains vehicle stability in critical situations and extends the operational feasible region. To simplify integration, we provide an open-source implementation at github.com/TUMFTM/tam-stability-control.
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