Title :
Backstepping control synthesis for both longitudinal and lateral automated vehicle
Author :
Chaibet, Ahmed ; Nouvelière, Lydie ; Mammar, Said ; Netto, Mariana ; Labayrade, Raphael
Author_Institution :
Univ. d´´Evry val d´´Essonne, Evry, France
Abstract :
This paper proposes and evaluates a coupled lateral and longitudinal control law for an automated vehicle. Based on a simple model of vehicle, a solution is presented for the car-following by using the backstepping control technique. The performance and robustness of the control law are highlighted by the simulation of various maneuvers.
Keywords :
automated highways; control system synthesis; road safety; road traffic; road vehicles; automated vehicle; backstepping control synthesis; lateral control law; longitudinal control law; Automatic control; Automatic generation control; Backstepping; Engines; Equations; Force control; Motion analysis; Tires; Torque control; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles Symposium, 2005. Proceedings. IEEE
Print_ISBN :
0-7803-8961-1
DOI :
10.1109/IVS.2005.1505075
