A Lateral Control Algorithm for Automated Vehicles Based on the Dead Reckoning Function

This paper proposes a lateral control algorithm for automated vehicles based on the dead reckoning function. If a planned trajectory of a vehicle is expressed with a series of points and a heading of a vehicle at each point based on a map database, and the trajectory of a vehicle is approximated with a series of a piece of a circle between two points, the lateral control is given by a series of a constant steering angle, but it is not appropriate to practical use. This paper proposes a relaxation method at the discontinuous parts of the lateral control, and verifies its effectiveness with computer simulation.

• Availability:
  • Find a library where document is available. Order URL: http://itswc.confex.com/itswc/WC2011/webprogram/start.html
• Supplemental Notes:
  • Abstract reprinted with permission from Intelligent Transportation Society of America.
• Corporate Authors:

  ITS America

  1100 17th Street, NW, 12th Floor
  Washington, DC  United States  20036
• Authors:
  • Miwa, Yoshiaki
  • Tsugawa, Sadayuki
• Conference:
  • 18th ITS World Congress
  • Location: Orlando Florida, United States
  • Date: 2011-10-16 to 2011-10-20
• Publication Date: 2011

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: 7p
• Monograph Title: 18th ITS World Congress, Orlando, 2011. Proceedings

Subject/Index Terms

• TRT Terms: Algorithms; Automatic steering control; Dead reckoning; Intelligent vehicles; Simulation
• Subject Areas: Data and Information Technology; Highways; Operations and Traffic Management; Vehicles and Equipment; I72: Traffic and Transport Planning; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01449240
• Record Type: Publication
• Files: TRIS
• Created Date: Oct 16 2012 8:56AM