OPTIMAL PREVIEW CAR STEERING CONTROL

Steering of a car to follow a prescribed path with minimal error is represented as a problem in optimal linear discrete time preview control. A standard yaw/sideslip linear car model is put into discrete time form and joined with a road preview model. A quadratic cost function consisting of terms describing path and attitude errors with respect to a roadway and steering angle control is minimised by standard optimal control theory methods, using MATLAB to perform the necessary computations. The form taken by the optimal preview control, with variations in the weighting of terms in the cost function and with variations in the vehicle speed, is established. The results are examined in the context of real driving and tested by simulation of manoeuvres using the optimal steering control in what is thought to approximate the manner of a real driver. New insights into steering of vehicles are generated and new avenues for exploration of the influences on the driver of varying the vehicle dynamic properties are opened up. For the covering abstract see ITRD E111409.

• Corporate Authors:

  SWETS & ZEITLINGER PUBLISHERS

  LISSE,   Netherlands 
• Authors:
  • SHARP, R S
  • VALTETSIOTIS, V
• Conference:
  • SELECTED PAPERS FROM THE 20TH INTERNATIONAL CONGRESS ON THEORETICAL AND APPLIED MECHANICS - ICTAM, HELD CHICAGO, USA, 28 AUGUST - 1 SEPTEMBER 2000. SUPPLEMENT TO VEHICLE SYSTEM DYNAMICS, VOLUME 35
• Publication Date: 2001

Language

• English

Media Info

• Features: References;
• Pagination: p. 101-17

Subject/Index Terms

• TRT Terms: Automobiles; Driving; Steering; Yaw; Yaw
• ITRD Terms: 1243: Car; 1834: Steering (process); 1646: Vehicle handling; 1636: Yawing (veh)
• Subject Areas: Vehicles and Equipment;

Filing Info

• Accession Number: 00822499
• Record Type: Publication
• Source Agency: Transport Research Laboratory
• Files: ITRD
• Created Date: Jan 7 2002 12:00AM