VEHICLE LATERAL CONTROL FOR HIGHWAY AUTOMATION
The objectives of lateral control for highway automation are to let vehicles track the center of a lane with small error and to maintain good ride quality under different vehicle speeds, loads, wind gust disturbances and road conditions. In this paper, the lateral feedback and feedforward controllers are designed to satisfy these objectives by utilizing the frequency-shaped linear quadratic (FSLQ) control theory. This design method allows that the ride quality be included in the performance index explicitly, and the high-frequency robustness characteristic be improved by properly choosing the weighting factors. It is shown that a controller with fixed gains does not perform satisfactorily under all conditions. Therefore, an estimator for cornering stiffness of the tires is proposed to enhance performance. Simulation results show that this adaptive control approach works satisfactorily under a variety of conditions including intermittent measurement of lateral tracking error.
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Supplemental Notes:
- Publication Date: 1990 Published By: American Automatic Control Council, Green Valley, AZ
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Corporate Authors:
University of California, Berkeley
Vehicle Technology Facility
, United StatesProgram on Advanced Technology for the Highway (Calif.)
,California Department of Transportation
1120 N Street
Sacramento, CA United States 95814University of California, Berkeley
Department of Mechanical Engineering
Berkeley, CA United States 94720-1740 -
Authors:
- Peng, Huei
- Tomizuka, Masayoshi
- Conference:
- Publication Date: 1990
Language
- English
Media Info
- Pagination: p. 788-794
Subject/Index Terms
- TRT Terms: Advanced vehicle control systems; Automatic steering control; Comfort
- Subject Areas: Operations and Traffic Management; Safety and Human Factors;
Filing Info
- Accession Number: 00784668
- Record Type: Publication
- Source Agency: UC Berkeley Transportation Library
- Files: PATH, STATEDOT
- Created Date: Nov 17 2000 12:00AM