Title :
Combined lateral and longitudinal control of vehicles for IVHS
Author :
Pham, Hung ; Hedrick, Karl ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
fDate :
29 June-1 July 1994
Abstract :
A surface control law is derived for combined lateral and longitudinal vehicle control. An integrated approach is stressed and the coupling effects between the lateral and longitudinal forces and motions are investigated. Simulation results are presented, and the tracking performance and ride quality are shown to compare favorably against a linear optimal controller.
Keywords :
automated highways; nonlinear control systems; road vehicles; tracking; IVHS; combined lateral/longitudinal control; coupling effects; integrated approach; linear optimal controller; ride quality; surface control law; tracking performance; Analytical models; Automatic control; Convergence; Engines; Mechanical engineering; Optimal control; Roads; Tires; Vehicle driving; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752247
