AUTOMOBILE STEERING AUTOPILOT WITH LANE CHANGE CAPABILITY

This paper describes a steering autopilot with preview actions designed for controlling a four-wheel steering vehicle and applied to lane change maneuvers at variable speeds. The steering autopilot is designed as an optimal, discrete-time preview path tracking problem under perfect measurement of the lateral deviation from the track, and the front and rear steering angles. The feasibility of incorporating the autopilot controller into vehicles is discussed. Financial considerations would include steering actuators, sensors to measure steering angles and vehicle lateral deviation, and road markers to facilitate the lateral deviation and road curvature measurement.

Language

  • English

Media Info

  • Pagination: p. 143-148

Subject/Index Terms

Filing Info

  • Accession Number: 00776553
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 17 1999 12:00AM