Title :
Backstepping based approach for the combined longitudinal-lateral vehicle control
Author :
Nehaoua, Lamri ; Nouvelière, Lydie
Author_Institution :
IBISC Lab., Univ. of Evry-Val d´´Essonne, Courcouronnes, France
Abstract :
This paper presents an integrated control method of a light road vehicle driving on a known and high secured itinerary at low speed. A planning module sends a safe and low energy reference trajectory to a control module that permits to manage the trajectory tracking under 50 km/h. A backstepping procedure is presented and formulated to realize a coupled longitudinal and lateral control in lane change or collision avoidance maneuvers.
Keywords :
collision avoidance; road vehicles; trajectory control; backstepping based approach; collision avoidance maneuvers; combined longitudinal-lateral vehicle control; control module; integrated control method; lane change; light road vehicle driving; planning module; reference trajectory; trajectory tracking; Equations; Friction; Mathematical model; Roads; Tires; Vehicle dynamics; Vehicles;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2012 IEEE
Conference_Location :
Alcala de Henares
Print_ISBN :
978-1-4673-2119-8
DOI :
10.1109/IVS.2012.6232257
