Title :
Lane change maneuver via H∞ steering control methods
Author :
O´Brien, Richard T. ; Iglesias, Pablo A. ; Urban, Thomas J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a controller is designed which allows the vehicle to change lanes automatically while ensuring passenger comfort and safety. The controller is designed using an H∞ based loop shaping design procedure due to McFarlane and Glover (1989). 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 is examined, as well as the vehicle´s performance in an icy patch
Keywords :
robust control; H∞ based loop shaping design; H∞ steering control methods; icy patch; lane change maneuver; lateral motion control; robustness; Automatic control; Closed loop systems; Control systems; Filters; Laboratories; Physics; Roads; Robust control; Uncertainty; Vehicle safety;
Conference_Titel :
Control Applications, 1995., Proceedings of the 4th IEEE Conference on
Conference_Location :
Albany, NY
Print_ISBN :
0-7803-2550-8
DOI :
10.1109/CCA.1995.555654
