On the steering of automated vehicles—A velocity-adaptive controller
- 1 November 1980
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Vehicular Technology
- Vol. 29 (4) , 375-385
- https://doi.org/10.1109/T-VT.1980.23869
Abstract
A velocity-adaptive lateral controller is designed to meet requirements pertaining to lateral-position tracking accuracy, ride comfort, and an insensitivity to both changes in critical vehicle parameters and disturbance forces. This controller was tested under full-scale conditions wherein a wire-follower configuration and a dual-mode test vehicle were employed. The latter was automatically steered on straight sections of roadway at speeds up to 35.8 m/s, lane-changing maneuvers were performed up to this speed, and small-radius (100 m) curves were traversed at speeds up to 17.9 m/s. Excellent lateral control, close tracking, good insensitivity to disturbance forces, and a comfortable ride resulted; thus, a relatively simple controller can be effectively employed for nonemergency situations.Keywords
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