The Use of a Scale Vehicle Testbed for Controller Design and Evaluation

摘要: Current practice in the vehicle dynamics and control community is to validate detailed simulation results using a full-sized vehicle. For university-based research, this approach often prohibitively expensive, as well dangerous, especially when considering testing linearity of model via aggressive driving situations for which matching may be poor. Unfortunately, it precisely under these conditions that controller will most expected perform correctly. To circumvent cost inherent danger controllers fullsized vehicles, scale testbed has been developed use an evaluation tool bridge design gap between studies full sized hardware. The focus research presented article develop version