A variable look-ahead controller for lateral guidance of four wheeled vehicles

Author

Hingwe, Pushkar ; Tomizuka, Masayoshi

Author_Institution

Dept. of Mech. Eng., California Univ., Berkeley, CA, USA

Volume

1

fYear

1998

fDate

21-26 Jun 1998

Firstpage

31

Abstract

A variable look-ahead controller for the lateral guidance of vehicles for automated highway systems is proposed. The control objective is to make the lateral error at a certain point ahead of the vehicle zero. The distance of this point from the vehicle is called the look-ahead distance. An input-output linearization controller to achieve this objective is proposed. It is shown that the yaw internal dynamics can be damped at all longitudinal velocities if the look-ahead distance is a certain quadratic function of the longitudinal velocity

Keywords

automated highways; closed loop systems; dynamics; feedback; linearisation techniques; position control; road vehicles; stability; velocity control; automated highway; closed loop systems; feedback; four wheeled vehicles; input-output linearization; lateral guidance; longitudinal velocity; look-ahead distance; stability; variable look-ahead controller; velocity control; yaw internal dynamics; Automated highways; Automatic control; Equations; Error correction; Mechanical engineering; Mechanical variables control; Navigation; Road vehicles; Sliding mode control; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.694619

Filename

694619