The design of a single-loop configuration for vehicle automatic lateral control is presented. First, a path-dependent coordinate system for describing vehicle motion is defined, and the availability of motion quantities for use in such control is considered. The basic requirements of lateral control--accurate tracking on all expected geometric configurations, good response in disturbance inputs, and passenger comfort--are enumerated with respect to a control structure, which includes the derived dynamics of a typical U.S. passenger sedan. Various designs, in which different types of compensation are used, are evaluated in terms of the stated requirements, and attractive candiates are specified. Subsequently, one controller design was tested under full-scale conditions. Here, a dual-mode test vehicle was automatically steered on both straight and curving roads are speeds as high as 129 km/h (80 mph). A wire reference system was used, and the concrete road was continuously reinforced. The maximum tracking error observed was 0.0635 m (0.2 ft) and occurred both when a sidewind was present and when the vehicle entered a curving section of roadway.

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    • This paper appears in Dual Mode Transportation, which is a publication containing the proceedings of a conference conducted by the Transportation Research Board, May 29-31, 1974. Distribution, posting, or copying of this PDF is strictly prohibited without written permission of the Transportation Research Board of the National Academy of Sciences. Unless otherwise indicated, all materials in this PDF are copyrighted by the National Academy of Sciences. Copyright © National Academy of Sciences. All rights reserved
  • Corporate Authors:

    Transportation Research Board (TRB)

    Washington, DC   
  • Authors:
    • Olson, Karl W
    • Fenton, Robert E
    • Melocik, Grant C
  • Conference:
  • Publication Date: 1976

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  • Accession Number: 00149255
  • Record Type: Publication
  • Files: TRIS, TRB, ATRI
  • Created Date: Mar 15 1977 12:00AM