Lateral Control of Front-Wheel-Steering Rubber-Tire Vehicles

In this paper, two models were developed to describe the lateral dynamics of a vehicle for different purposes. The lateral feedback and feedforward controllers are designed to satisfy the above objective based on a linearized model, which includes only the lateral and yaw motions. The performance of the controllers is evaluated on a complex model, which includes motions in all six directions (longitudinal, lateral, vertical, roll, pitch and yaw). It has been validated by numerical simulations that the responses of the complex model and the simplified model remain close to each other when the steering is not too abrupt.

• Record URL:
  https://escholarship.org/uc/item/4t17m5nn.pdf
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/10551425
• Supplemental Notes:
  • Publication Date: 1990 Institute of Transportation Studies, University of California Berkeley, CA Remarks: Also available in PDF format from the California PATH website
• Corporate Authors:

  Program on Advanced Technology for the Highway (Calif.)

  ,    

  University of California, Berkeley

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

  California Department of Transportation

  1120 N Street
  Sacramento, CA  United States  95814
• Authors:
  • Peng, Huei
  • Tomizuka, Masayoshi
• Publication Date: 1990

Language

• English

Media Info

• Media Type: Digital/other
• Pagination: 44 p.
• Serial:
  • PATH Research Report
  • Publisher: University of California, Berkeley
  • ISSN: 1055-1425

Subject/Index Terms

• TRT Terms: Automatic steering control; Simulation
• Old TRIS Terms: Front wheel drive vehicles

Filing Info

• Accession Number: 00796650
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• Report/Paper Numbers: UCB-ITS-PRR-90-5
• Files: PATH, STATEDOT
• Created Date: Aug 17 2000 12:00AM