Title :
Vehicle control for automated highway systems for improved lateral maneuverability
Author :
Kachroo, Pushkin ; Tomizuka, Masayoshi
Author_Institution :
Center for Transp. Res., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
Abstract :
In this paper, longitudinal and lateral vehicle control for automated highway systems (AHS) are studied together for their coupling effects. It is shown that longitudinal controllers which directly control the wheel slip are inherently more stable, especially during lateral maneuvers on very slippery road conditions, than longitudinal controllers which do not take wheel slip into account
Keywords :
automated highways; linear quadratic control; road vehicles; variable structure systems; automated highway systems; lateral maneuverability; lateral vehicle control; longitudinal vehicle control; slippery road conditions; wheel slip; Automated highways; Automatic control; Control systems; Force control; Motion control; Nonlinear dynamical systems; Road vehicles; Sliding mode control; Vehicle dynamics; Wheels;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.537859
