Vehicle lateral control for automated highway systems

R. T. O'Brien; P. A. Iglesias; T. J. Urban

doi:10.1109/87.491200

Vehicle lateral control for automated highway systems

R. T. O'Brien, P. A. Iglesias, T. J. Urban

Whiting School of Engineering

Research output: Contribution to journal › Article › peer-review

81 Scopus citations

Abstract

This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H_∞ based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.

Original language	English (US)
Pages (from-to)	266-273
Number of pages	8
Journal	IEEE Transactions on Control Systems Technology
Volume	4
Issue number	3
DOIs	https://doi.org/10.1109/87.491200
State	Published - 1996

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/87.491200

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title = "Vehicle lateral control for automated highway systems",

abstract = "This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H∞ based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.",

author = "O'Brien, {R. T.} and Iglesias, {P. A.} and Urban, {T. J.}",

note = "Funding Information: Manuscript received January 3, 1994. Recommended by Associate Editor, J. Winkelman. This work was supported in part by an IR&D research grant from the Applied Physics Laboratory. The second author also was supported by the National Science Foundation, under Contract ECS-9309387. R. T. O{\textquoteright}Brien and P. A. Iglesias are with the Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21218 USA. T. J. Urban is with the Applied Physics Laboratory, Johns Hopkins University, Laurel, MD 20723-6099 USA. Publisher Item Identifier S 1063-6536(96)03615-9.",

year = "1996",

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AU - Iglesias, P. A.

AU - Urban, T. J.

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PY - 1996

Y1 - 1996

N2 - This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H∞ based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.

AB - This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H∞ based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.

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Vehicle lateral control for automated highway systems

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