OPTIMAL LATERAL CONTROL FOR DUAL-MODE VEHICLES

The lateral guidance problem for automated highway vehicles on an essentially straight roadway is considered in the light of optimal control theory. An optimal system regulator was designed by using a simple fourth-order, seven parameter, linear model of vehicle lateral dynamics and a quadratic performance index that penalize both the vehicle's lateral displacement from the desired path and the vehicle's lateral and yaw accelerations. The initial condition response dynamics of the controlled model were investigated, and the importance of considering the vehcile's yaw acceleration when designing the regulator is shown. Putting the model and regulator problem in dimensionless form reduced the number of independent vehicle parameters to four. The coefficients of the linear feedback law relating the vehicle's front-wheel steer angle to the model state variables are presented in dimensionless form for an extensive range of the four vehicle parameters. For a specific vehicle, the longitudinal velocity is the only parameter that varies significantly. However, the effect of longitudinal velocity on the feedback coefficients is accurately approximated by simple functions. These results are illustrated in the paper for a typical sedan.

• Record URL:
  http://onlinepubs.trb.org/Onlinepubs/sr/sr170/170-032.pdf
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/0360859X
• Supplemental Notes:
  • This paper appears in Dual Mode Transportation, which is a publication containing the proceedings of a conference conducted by the Transportation Research Board, May 29-31, 1974. Distribution, posting, or copying of this PDF is strictly prohibited without written permission of the Transportation Research Board of the National Academy of Sciences. Unless otherwise indicated, all materials in this PDF are copyrighted by the National Academy of Sciences. Copyright © National Academy of Sciences. All rights reserved
• Corporate Authors:

  Transportation Research Board (TRB)

  Washington, DC   
• Authors:
  • Bonderson, Loren S
• Conference:
  • Conference on Dual-Mode Transportation
  • Location: Washington District of Columbia, United States
  • Date: 1974-5-29 to 1974-5-31
• Publication Date: 1976

Media Info

• Media Type: Print
• Pagination: p 98
• Monograph Title: Dual-mode transportation
• Serial:
  • Transportation Research Board Special Report
  • Issue Number: 170
  • Publisher: Transportation Research Board
  • ISSN: 0360-859X

Subject/Index Terms

• TRT Terms: Automated highway systems; Automated vehicle control; Dual mode transportation systems; Vehicle dynamics; Yaw
• Uncontrolled Terms: Regulators
• Subject Areas: Highways; Planning and Forecasting;

Filing Info

• Accession Number: 00149256
• Record Type: Publication
• Files: TRIS, TRB, ATRI
• Created Date: Mar 15 1977 12:00AM