Abstract:
Lateral vehicle control is an essential part for many automated and cooperative driving applications. Lane keeping and vehicle following are typical modes of such control...Show MoreMetadata
Abstract:
Lateral vehicle control is an essential part for many automated and cooperative driving applications. Lane keeping and vehicle following are typical modes of such control system. The aim of this paper is to develop a generic lateral controller that can handle these different modes. Based on the available measurements, either path or single point preview information is used in the feedback loop of the controller, while controller parameters and adaptive gains are unaffected. The paper contains theoretical analysis and discusses the results of simulations and vehicle experiments.
Published in: 2017 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)
Date of Conference: 26-28 June 2017
Date Added to IEEE Xplore: 10 August 2017
ISBN Information:
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- IEEE Keywords
- Index Terms
- Concept Of Control ,
- Lateral Control ,
- Theoretical Analysis ,
- Path Information ,
- Path Points ,
- Center Of Mass ,
- Optimal Control ,
- Feedback Control ,
- Gain Control ,
- Radius Of Curvature ,
- Tracking Error ,
- Difference In Latency ,
- Single Control ,
- Vehicle Dynamics ,
- Steady-state Error ,
- Lane Change ,
- Advanced Driver Assistance Systems ,
- Steering Angle ,
- Feedback Control Law ,
- Camera Data ,
- Rear Axle ,
- Lane Center ,
- Vehicle Center ,
- Straight Part ,
- Definition Of Error ,
- Path Curvature ,
- Vehicle Mass ,
- Single Concept ,
- Feedback Gain ,
- Yaw Angle
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Concept Of Control ,
- Lateral Control ,
- Theoretical Analysis ,
- Path Information ,
- Path Points ,
- Center Of Mass ,
- Optimal Control ,
- Feedback Control ,
- Gain Control ,
- Radius Of Curvature ,
- Tracking Error ,
- Difference In Latency ,
- Single Control ,
- Vehicle Dynamics ,
- Steady-state Error ,
- Lane Change ,
- Advanced Driver Assistance Systems ,
- Steering Angle ,
- Feedback Control Law ,
- Camera Data ,
- Rear Axle ,
- Lane Center ,
- Vehicle Center ,
- Straight Part ,
- Definition Of Error ,
- Path Curvature ,
- Vehicle Mass ,
- Single Concept ,
- Feedback Gain ,
- Yaw Angle
- Author Keywords
