Vehicle lateral control for automated highway systems

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 sho...

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Bibliographic Details
Published in:IEEE transactions on control systems technology 1996-05, Vol.4 (3), p.266-273
Main Authors: O'Brien, R.T., Iglesias, P.A., Urban, T.J.
Format: Article
Language:English
Subjects:
Adaptive control
Applied sciences
Automated highways
Automatic control
Computer science
control theory
systems
Control system synthesis
Control systems
Control theory. Systems
Error correction
Exact sciences and technology
Intelligent transportation systems
Modelling and identification
Open loop systems
Physics
Road vehicles
Robust control
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Summary: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/sub /spl infin//-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.
ISSN:1063-6536
1558-0865
DOI:10.1109/87.491200