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Vehicle Lateral Control for Highway Automation
Abstract
The objectives of lateral control for highway automation are to let vehicles track the center of a lane with small error and to maintain good ride quality under different vehicle speeds, loads, wind gust disturbances, and road conditions. In this paper, the lateral feedback and feedforward controllers are designed to satisfy these objectives by utilizing the frequency-shaped linear quadratic (FSLQ) control theory. This design method allows that the ride quality be included in the performance index explicitly, and the high-frequency robustness characteristic be improved by properly choosing the weighting factors. It is shown that a controller with fixed gains does not perform satisfactorily under all conditions. Therefore, an estimator for comering stiffness of the tires is proposed to enhance performance. Simulation results show that this adaptive control approach works satisfactorily under a variety of conditions including intermittent measurement of lateral tracking error.
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Cited by
Research advances in intelligent collision avoidance and adaptive cruise control
Vahidi, A., & Eskandarian, A. (2003) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2003.821292 · Cited by 836
Preview Path Tracking Control With Delay Compensation for Autonomous Vehicles
Xu, S., Peng, H., & Tang, Y. (2021) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2020.2978417 · Cited by 165
Self-citation
Metadata
- Authors
- Peng, H., & Tomizuka, M.
- Venue
- 1990 American Control Conference
- Publisher
- IEEE
- Published
- 1990-05
- Pages
- 788-794
- ISSN
- 0743-1619 (ISSN-L)
- OpenAlex
- W1577754176
- Cited by
- 191
- References
- 0
- FWCI
- 3.14
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Peng, H., & Tomizuka, M. (1990). Vehicle Lateral Control for Highway Automation. 1990 American Control Conference. https://doi.org/10.23919/acc.1990.4790840
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