MAGNETIC-MARKER-BASED LANE KEEPING: A ROBUSTNESS EXPERIMENTAL STUDY

Experimental results on an automatic lane keeping control study are presented in this paper. A magnetic reference system was used to provide the vehicle lateral tracking error as well as future road curvature information and vehicle speed measurement to the vehicle steering controller. The front wheels of the vehicle are steered according to vehicle lateral displacement, future road curvature, vehicle yaw rate and lateral acceleration, and vehicle speed. The control algorithm used to design the feedback and feedforward controllers is known as the Frequency-Shaped-Linear-Quadratic Preview (FSLQ-preview) optimal control design method. The clossed loop response of the vehicle was examined under a wide variety of test conditions, including low tire pressure, measurement noise, perturbed reference system, hard braking, and snowy road.

• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/1560913495
• Supplemental Notes:
  • This paper appears in SAE SP-964, "Automotive Display Systems and IVHS".
• Corporate Authors:

  Society of Automotive Engineers (SAE)

  400 Commonwealth Drive
  Warrendale, PA  United States  15096
• Authors:
  • Peng, H
  • Zhang, Wenfen
  • Shladover, Steven
  • Tomizuka, M
  • Arai, A
• Publication Date: 1993-3

Language

• English

Media Info

• Features: Figures; References; Tables;
• Pagination: p. 127-132
• Serial:
  • SAE Special Publications
  • Publisher: Society of Automotive Engineers (SAE)

Subject/Index Terms

• TRT Terms: Algorithms; Automatic steering control; Automobiles; Experiments; Highway curves; Lateral acceleration; Lateral placement; Motor vehicles; Speed; Traffic speed; Yaw
• Old TRIS Terms: Magnetic reference system; Test conditions; Test results
• Subject Areas: Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 00634520
• Record Type: Publication
• ISBN: 1560913495
• Report/Paper Numbers: SAE/SP-93/964, Paper 930455, Paper 930456
• Files: TRIS
• Created Date: Aug 23 1993 12:00AM