Vehicle lateral control for automated highway systems

Author

O´Brien, R.T. ; Iglesias, P.A. ; Urban, T.J.

Author_Institution

Dept. of Mater. Sci. & Eng., Johns Hopkins Univ., Baltimore, MD, USA

Volume

4

Issue

3

fYear

1996

fDate

5/1/1996 12:00:00 AM

Firstpage

266

Lastpage

273

Abstract

This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H_∞-based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller´s robustness due to varying speeds, icy road conditions, and wind gusts are examined

Keywords

H^∞ control; automated highways; closed loop systems; control system synthesis; motion control; road vehicles; robust control; sensitivity analysis; tracking; H_∞ control; McFarlane-Glover method; automated highway systems; closed loop systems; lane change maneuver; lane tracking; lateral motion control; loop shaping design; modeling; robustness; steering controller; vehicle lateral control; Adaptive control; Automated highways; Automatic control; Control systems; Error correction; Intelligent transportation systems; Open loop systems; Physics; Road vehicles; Robust control;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.491200

Filename

491200