aiqbench analysis
This paper addresses the critical challenge of maintaining vehicle stability in autonomous racing by integrating electronic, slip, and countersteer control systems to safeguard motion algorithms at dynamic limits. Validated through both simulation and real-world full-scale experiments, the open-source implementation demonstrates how these layers extend the operational feasible region without a safety driver. The work represents significant progress in making high-speed autonomous driving safer for deployment on public or closed circuits where external factors like weather can induce instability.
Stability Control for Real World Testing in Autonomous Racing
arXiv:2608.17779v1 Announce Type: new Abstract: 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.
Abstract: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 this http URL.
Robotics (cs.RO); Systems and Control (eess.SY)
arXiv:2608.17779 [cs.RO]
(or arXiv:2608.17779v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2608.17779 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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Full text under the publisher's open licence · 264 words
