Title :
Lateral Control of Vehicle for Lane Keeping in Intelligent Transportation Systems
Author :
Zhang, Jing-Ming ; Ren, Dian-Bo
Author_Institution :
Automotive Eng. Dept., Harbin Inst. of Technol., Weihai, China
Abstract :
In this paper, we deal with the vehicle lateral control problem in Automated Highway Systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the problem of lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the variable structure lateral control laws are designed. From the simulation result, convergence rate of the lateral displacement error and yaw angle error are fast.
Keywords :
Lyapunov methods; adaptive control; automated highways; convergence; road vehicles; transportation; uncertainty handling; variable structure systems; vehicle dynamics; Automated Highway Systems; Lyapunov function method; convergence rate; direct adaptive algorithm; dynamical vehicle model; intelligent transportation systems; lane keeping; lateral displacement error; lateral vehicle control; parametric uncertainty; parametric variation compensation; variable structure lateral control laws; yaw angle error; Adaptive algorithm; Algorithm design and analysis; Automated highways; Automatic control; Control systems; Intelligent transportation systems; Intelligent vehicles; Lyapunov method; Road vehicles; Uncertainty; Lyapunov function method; adaptive control; automated highway systems; lane keeping;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics, 2009. IHMSC '09. International Conference on
Conference_Location :
Hangzhou, Zhejiang
Print_ISBN :
978-0-7695-3752-8
DOI :
10.1109/IHMSC.2009.119
