Title :
Lateral control of autonomous vehicle by yaw rate feedback
Author :
Hong, Seong Jae ; Choi, Ju Yong ; Jeong, Young Il ; Jeong, Kum Young ; Lee, Man Hyung ; Park, Kyoung Taik ; Yoon, Kang Sup ; Hur, Nam Su
Author_Institution :
Dept. of Mech. & Intelligent Syst. Eng., Pusan Nat. Univ., South Korea
Abstract :
In an autonomous vehicle, the reference lane is continually detected by a machine vision system. Then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of a vehicle, a PI controller is introduced for the yaw rate feedback. It is tuned by the simulation that the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of the actual vehicle test. The lateral control algorithm by the yaw rate feedback has good performance of lane tracking and passenger comfort
Keywords :
automated highways; automobiles; computer vision; feedback; mobile robots; position control; 2 DOF; 79 DOF; PI controller; autonomous vehicle lateral control; lane tracking; lateral control algorithm; lateral distance deviations; machine vision system; passenger comfort; reference lane detection; reference yaw rates; vehicle steering; yaw rate feedback; Character generation; Design engineering; Feedback; Intelligent vehicles; Machine vision; Mechanical engineering; Mobile robots; Remotely operated vehicles; Vehicle detection; Wheels;
Conference_Titel :
Industrial Electronics, 2001. Proceedings. ISIE 2001. IEEE International Symposium on
Conference_Location :
Pusan
Print_ISBN :
0-7803-7090-2
DOI :
10.1109/ISIE.2001.931923
