LATERAL AND LONGITUDINAL VEHICLE CONTROL COUPLING FOR AUTOMATED VEHICLE OPERATION

This paper focuses on a control integration project which examines the potential for improving controller performance using an integrated design of combined steering and speed controllers. Results from simulation studies reveal that the coupling compensation improves controller performance. It is also shown that the combined controller is robust to modeling imperfections and vehicle parameter variations.

• Supplemental Notes:
  • Publication Date: 1999 IEEE Service Center, Piscataway NJ
• Corporate Authors:

  University of California, Berkeley

  Department of Mechanical Engineering
  Berkeley, CA  United States  94720-1740

  University of California, Berkeley

  California PATH Program, Institute of Transportation Studies
  Richmond Field Station, 1357 South 46th Street
  Richmond, CA  United States  94804-4648

  University of Minnesota, Twin Cities

  Department of Mechanical Engineering
  Minneapolis, MN  United States  55455

  University of Southern California, Los Angeles

  Department of Electrical Engineering
  3740 McClintock Avenue
  Los Angeles, CA  United States  90089-2562

  Polytechneion Kretes. Dynamic Systems and Simulation Laboratory

  ,    

  Johns Hopkins University, Laurel

  Applied Physics Laboratory, 11100 Johns Hopkins Road
  Laurel, MD  United States  20723-6099

  Technische Universiteit Delft

  ,    

  Tokyo Daigaku. Dept. of Mechanical Engineering

  ,    

  University of Santa Clara

  ,    
• Authors:
  • Lim, E H M
  • Hedrick, J Karl
• Conference:
  • American Control Conference (18th : 1999 : San Diego, Calif.). Proceedings
• Publication Date: 1999

Language

• English

Media Info

• Pagination: p. 3676-3680

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems
• Identifier Terms: Partners for Advanced Transit and Highways
• Uncontrolled Terms: Controllers
• Subject Areas: Operations and Traffic Management;

Filing Info

• Accession Number: 00783317
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Files: PATH
• Created Date: Feb 16 2000 12:00AM