On the steering of automated vehicles-A velocity-adaptive controller

A velocity-adaptive lateral controller is designed to meet requirements pertaining to lateral-position tracking accuracy, ride comfort, and an insensitivity to both changes in critical vehicle parameters and disturbance forces. This controller was tested under full-scale conditions wherein a wire-fo...

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Bibliographic Details
Published in:IEEE transactions on vehicular technology 1980-11, Vol.29 (4), p.375-385
Main Authors: Cormier, W.H., Fenton, R.E.
Format: Article
Language:English
Subjects:
Automatic control
Control systems
Force control
Laboratories
Mechanical sensors
Road vehicles
Sensor systems
Testing
Transportation
Velocity control
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Summary:A velocity-adaptive lateral controller is designed to meet requirements pertaining to lateral-position tracking accuracy, ride comfort, and an insensitivity to both changes in critical vehicle parameters and disturbance forces. This controller was tested under full-scale conditions wherein a wire-follower configuration and a dual-mode test vehicle were employed. The latter was automatically steered on straight sections of roadway at speeds up to 35.8 m/s, lane-changing maneuvers were performed up to this speed, and small-radius (100 m) curves were traversed at speeds up to 17.9 m/s. Excellent lateral control, close tracking, good insensitivity to disturbance forces, and a comfortable ride resulted; thus, a relatively simple controller can be effectively employed for nonemergency situations.
ISSN:0018-9545
1939-9359
DOI:10.1109/T-VT.1980.23869