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Characterization of side-slip dynamics in Land Rover LR3 for improved high speed autonomous control

In this thesis, the side slip control dynamics of the Land Rover LR3 platform are examined for autonomous control. As autonomy becomes implemented in high speed safety applications, the importance of an accurate model for the vehicle becomes crucial for obstacle avoidance and emergency maneuvers. Testing on public highways under normal operation shows a slip ratio drop to 70% of the no-slip model, indicating a need for model improvement. By defining the slip ratio as a function of velocity with a slope of -0.018 ± 0.002 seconds per meter and a y-intercept of 1.23 + .04, much of this error may be reduced. While a more complex relationship may exist between the slip ratio, vehicle velocity, and the steering command, the noise and inaccuracy of the sensor prevent a more precise analysis. Thesis Supervisor: John J. Leonard Title: Professor of Mechanical and Ocean Engineering Acknowledgments Prof. John J. Leonard For advising and guiding me through the research process. Luke Fletcher For working closely with me to understand the vehicle and analysis software and help conduct and record the tests. Jason Dorfman For his photography. The MIT DARPA Urban Challenge team Whose code and hard work gave me a starting point for my research.