Design of a Scaled-car Platform for Extreme Driving Conditions

Abstract

The scaled-car is instructive for evaluating autonomous driving algorithms for vehicle control under extreme conditions. With customized structures, scaled-cars can help evaluate the interactions between vehicle and external environment that are hard to simulate at an affordable cost. However, there is no scaled-car on the market that can achieve four-wheel independent torque control and independent steering control. In this paper, we design and build a scaled-car platform that is capable of these functionalities. We also demonstrate its mobility through preliminary experiments.