In this paper, the authors focus on automated lane guidance of tractor-semitrailer combinations in an automated highway system (AHS) setting. Both a vehicle coordinate frame and a road coordinate frame are used in vehicle modelling. Linear analysis is used to study vehicle speed and the look-ahead distance as they relate to the open loop dynamics from the front wheel steering angle to the lateral error. Lateral controllers in a linear and nonlinear design are presented and verified through simulation results.

  • Supplemental Notes:
    • Publication Date: 1999 IEEE Service Center, Piscataway NJ
  • Corporate Authors:

    University of California, Berkeley

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

    University of California, Berkeley

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

    Laboratoire d'automatique de Grenoble

  • Authors:
    • Tomizuka, Masayoshi
    • Tai, W
    • WANG, J-Y
    • Hingwe, Pushkar
  • Conference:
  • Publication Date: 1999


  • English

Media Info

  • Pagination: p. 1359-1364

Subject/Index Terms

Filing Info

  • Accession Number: 00791711
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: May 5 2000 12:00AM