Vehicle lateral control for automated highway systems
- 1 May 1996
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Control Systems Technology
- Vol. 4 (3) , 266-273
- https://doi.org/10.1109/87.491200
Abstract
This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H/sub /spl infin//-based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.Keywords
This publication has 11 references indexed in Scilit:
- A sliding mode control approach to automatic car steeringPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Estimator and controller design for LaneTrak, a vision-based automatic vehicle steering systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Lane change maneuver via H/sub ∞/ steering control methodsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- A Preview Steering Autopilot Control Algorithm for Four-Wheel-Steering Passenger VehiclesJournal of Dynamic Systems, Measurement, and Control, 1992
- A Theoretical and Experimental Study on Vehicle Lateral ControlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1992
- Pole/zero cancellations in the general
H ∞ problem with reference to a two block designSystems & Control Letters, 1990 - A Course in H∞ Control TheoryPublished by Springer Nature ,1987
- Feedback and optimal sensitivity: Model reference transformations, multiplicative seminorms, and approximate inversesIEEE Transactions on Automatic Control, 1981
- New Results in Driver Steering Control ModelsHuman Factors: The Journal of the Human Factors and Ergonomics Society, 1977
- On the steering of automated vehicles: Theory and experimentIEEE Transactions on Automatic Control, 1976