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Author Tomizuka, M. ♦ Tai, M. ♦ Wang, J.-Y. ♦ Hingwe, P.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1999
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Navigation ♦ Road vehicles ♦ Open loop systems ♦ Automated highways ♦ Automatic control ♦ Error correction ♦ Gravity ♦ Vehicle dynamics ♦ Wheels ♦ Shape control
Abstract This paper is concerned with automated lane guidance of heavy vehicles in the context of automated highway systems. Emphasis is on tractor-semitrailer combinations. Vehicle models are formulated in both the vehicle coordinate frame and the road coordinate frame. The model in the latter frame is appropriate for dynamical analysis and controller design since the lateral error is measured relative to the road. The vehicle speed and the look-ahead distance, i.e., the location of lateral error sensor relative to the tractor's center of gravity, significantly affect the open loop dynamics from the front wheel steering angle to the lateral error. This aspect is studied by linear analysis. Two classes of lateral controllers are presented: one class is designed based on linear H/sub /spl infin// loop shaping methods and the other is based on nonlinear robust control and adaptive control. Simulation results are presented to verify the linear and nonlinear designs.
Description Author affiliation: Dept. of Mech. Eng., California Univ., Berkeley, CA, USA (Tomizuka, M.)
ISBN 078035446X
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1999-08-22
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 574.44 kB
Page Count 6
Starting Page 1359
Ending Page 1364

Source: IEEE Xplore Digital Library