The design of a look-down feedback adaptive controller for the lateral control of front-wheel-steering autonomous highway vehicles

Author

Choi, Seibum B.

Author_Institution

TRW, Livonia, MI, USA

Volume

49

Issue

6

fYear

2000

fDate

11/1/2000 12:00:00 AM

Firstpage

2257

Lastpage

2269

Abstract

An adaptive control law and a distance rate observer were developed for the lateral control of autonomous vehicles. The control law and the observer were implemented on a passenger vehicle. The test results show that both tight lateral tracking control and smooth steering can be achieved without feed forward information. The developed control law is shown to be very robust to changes in the most critical vehicle control parameters

Keywords

adaptive control; automated highways; controllers; feedback; road vehicles; adaptive control law; automated highways; autonomous vehicles; distance rate observer; front-wheel-steering autonomous highway vehicles; intelligent vehicle highway system; lateral control; lateral tracking control; look-down feedback adaptive controller; observer; passenger vehicle; smooth steering; test results; vehicle control parameters; Adaptive control; Automated highways; Automatic control; Feedback; Magnetic sensors; Mobile robots; Programmable control; Remotely operated vehicles; Road transportation; Road vehicles;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/25.901895

Filename

901895