Abstract: This contribution presents a friction estimator for
industrial purposes which identifies Coulomb friction in a steering
system. The estimator only needs a few, usually known, steering
system parameters. Friction occurs on almost every mechanical
system and has a negative influence on high-precision position
control. This is demonstrated on a steering angle controller for highly
automated driving. In this steering system the friction induces limit
cycles which cause oscillating vehicle movement when the vehicle
follows a given reference trajectory. When compensating the friction
with the introduced estimator, limit cycles can be suppressed. This
is demonstrated by measurements in a series vehicle.
Abstract: In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.