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.

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  • Supplemental Notes:
    • Abstract reprinted with permission from Intelligent Transportation Society of America.
  • Corporate Authors:

    ITS America

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    Washington, DC  United States  20036
  • Authors:
    • Miwa, Yoshiaki
    • Tsugawa, Sadayuki
  • Conference:
  • Publication Date: 2011


  • 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

Filing Info

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