Title :
Automobile steering autopilot with lane change capability
Author :
Lin, Y.S. ; Cook, Gerald
Author_Institution :
Dept. of Electr. & Comput. Eng., George Mason Univ., Fairfax, VA, USA
Abstract :
A steering autopilot with preview actions is designed for control of a four-wheel steering vehicle and analyzed for application to lane change of the vehicle at variable speeds. The steering autopilot design is formulated as an optimal, discrete-time preview path tracking problem under perfect measurement of the lateral deviation from the track, and the front and rear steering angles. The authors´ studies indicate that a high performance autopilot controller can be incorporated into a modern vehicle. The main cost would be steering actuators, sensors to measure steering angles and vehicle lateral deviation, and road markers to facilitate the lateral deviation and road curvature measurement
Keywords :
actuators; automobiles; control system analysis; control system synthesis; discrete time systems; optimal control; position control; predictive control; road traffic; sensors; tracking; traffic control; angle measurement sensors; automobile steering autopilot; control design; control performance; four-wheel steering vehicle; lane change capability; lateral track deviation; optimal discrete-time preview path tracking problem; preview actions; road curvature measurement; road markers; steering actuators; steering angles; Actuators; Automated highways; Automatic control; Automobiles; Automotive engineering; Costs; Design engineering; Remotely operated vehicles; Road safety; Road vehicles;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.671036
