Proceedings ArticleDOI
Vehicle Lateral Control for Highway Automation
Huei Peng,Masayoshi Tomizuka +1 more
- pp 788-794
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TLDR
In this article, the authors proposed a frequency-shaped linear quadratic (FSLQ) control theory for lateral feedback and feed-forward adaptive control for highway automation, which allows to track the center of a lane with small error and maintain good ride quality under different vehicle speeds, loads, wind gust disturbances, and road conditions.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.read more
Citations
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Smart cars on smart roads: problems of control
TL;DR: In this paper, an automated intelligent vehicle/highway system (IVHS) is described, and a four-layer hierarchical control architecture is proposed to decompose this problem into more manageable units.
Journal ArticleDOI
Research advances in intelligent collision avoidance and adaptive cruise control
Ardalan Vahidi,Azim Eskandarian +1 more
TL;DR: This paper explains the initiatives for automation in different levels of transportation system with a specific emphasis on the vehicle-level automation, and the impact of automation/warning systems on each of the above-mentioned factors.
Journal ArticleDOI
Automated vehicle control developments in the PATH program
Steven E Shladover,Charles A. Desoer,J.K. Hedrick,Masayoshi Tomizuka,Jean Walrand,Wei-Bin Zhang,D. H. McMahon,Huei Peng,Shahab Sheikholeslam,Nick McKeown +9 more
TL;DR: The accomplishments to date on the development of automatic vehicle control technology in the Program on Advanced Technology for the Highway (PATH) at the University of California, Berkeley are summarized in this article.
Journal ArticleDOI
Control issues in automated highway systems
TL;DR: In this article, vehicle control issues that must be faced in designing a fully automated highway system (AHS) are addressed, in particular requirements for a control system architecture as well as issues of lateral and longitudinal "platoon" control.
Journal ArticleDOI
Verified hybrid controllers for automated vehicles
TL;DR: This work discusses the design of safe and efficient hybrid controllers for regulation of vehicles on an AHS and uses game theoretic techniques to deal with the multiagent and multiobjective nature of the problem.
References
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Journal ArticleDOI
Frequency-shaped cost functionals - Extension of linear-quadratic-Gaussian design methods
TL;DR: In this article, the linear-quadratic-Gaussian method for feedback control design is extended to include frequency-shaped weighting matrices in the quadratic cost functional, which provides a means to meet classical design requirements with automated computational procedures of modern control theory.
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New Results in Driver Steering Control Models
TL;DR: In this article, the authors present a short review of the combined compensatory, pursuit, and pursuit control properties of drivers and driver/vehicle systems in steering operations in steering operation.
Journal ArticleDOI
Theoretical Prediction and Experimental Substantiation of the Response of the Automobile to Steering Control
TL;DR: In this paper, a review of the theoretical work is presented together with a description of the methods used to measure the response of the test car, and an extensive discussion of the nature of the lateral response of an automobile to steering control is discussed.
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The attentional demand of automobile driving
TL;DR: In general, the model is a fair approximation of actual behavior and it remains for future work to determine whether this approximation is good enough to be useful for the specification of vehicle, highway, and user characteristics.
Proceedings ArticleDOI
An Intelligent Roadway Reference System for Vehicle Lateral Guidance/Control
TL;DR: An Intelligent Vehicle/Highway System (IVHS) may require a multifunctional roadway reference system, consisting of roadway reference and vehicle sensing elements which can transmit necessary information for vehicle lateral guidance/control.