AUTOMATED LANE GUIDANCE OF COMMERCIAL VEHICLES

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:
  • IEEE International Conference on Control Applications (1999 : Kohala Coast, Hawaii). Proceedings ... Vol. 2
• Publication Date: 1999

Language

• English

Media Info

• Pagination: p. 1359-1364

Subject/Index Terms

• TRT Terms: Advanced vehicle control systems; Trucks
• Subject Areas: Motor Carriers; Operations and Traffic Management;

Filing Info

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