A VARIABLE LOOK-AHEAD CONTROLLER FOR LATERAL GUIDANCE OF FOUR WHEEL VEHICLES

In this paper, the authors propose a variable look-ahead controller designed for the lateral guidance of vehicles in an automated highway system (AHS). The control objective is to make a zero lateral error at a certain point ahead of the vehicle. An input-output linearization controller is used to achieve this objective. The authors show that the yaw internal dynamics can be damped at all longitudinal velocities if the look-ahead distance is a certain quadratic function of the longitudinal velocity.

  • Supplemental Notes:
    • Publication Date: 1998 Published By: American Automatic Control Council, Evanston IL
  • Corporate Authors:

    University of California, Irvine

    Department of Electrical and Computer Engineering
    Irvine, CA  United States 

    University of California, Berkeley

    Department of Mechanical Engineering
    Berkeley, CA  United States  94720-1740

    Oakland University. Dept. of Electrical and Systems Engineering

    ,    

    Ch'ing hua ta hsueh (Beijing, China)

    ,    

    University of California, Berkeley

    California PATH Program, Institute of Transportation Studies
    Richmond Field Station, 1357 South 46th Street
    Richmond, CA  United States  94804-4648

    University of Michigan, Ann Arbor

    Department of Electrical Engineering and Computer Science
    Ann Arbor, MI  United States  48109

    Ford Motor Company

    Scientific and Research Laboratory
    Dearborn, MI  United States  48124

    University of California, Los Angeles

    Department of Mechanical, Aerospace and Nuclear Engineering
    Los Angeles, CA  United States 
  • Authors:
    • Hingwe, Pushkar
    • Tomizuka, Masayoshi
  • Conference:
  • Publication Date: 1998

Language

  • English

Media Info

  • Pagination: p. 31-35

Subject/Index Terms

Filing Info

  • Accession Number: 00777005
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 17 1999 12:00AM