Identifikation des Lenksystems in autonomen Fahrzeugen


Caused by various external influences on the steering it is possible that it dissimu- lates. In an autonomous vehicle this may leed to driving a off-centered ideal driving line which exceeds the lane marking, even when the steering is in the actual zero position. This work addresses several algorithms that are able to independently de- termine and adjust the new zero position of the steering while driving. A simulation of the algorithms is developed and evaluated in T.O.R.C.S. (The Open Racing Car Simulator). Then the algorithms are ported to the software architecture of the FAUST project.