Vehicle Lateral Control Modeling for Steering Automation in the ADVANCE-F System
Resource
Transactions of the Institute of Measurement and Control, 18(3), 149-159
Journal
Transactions of the Institute of Measurement and Control
Journal Volume
18
Journal Issue
3
Pages
149-159
Date Issued
1996-08
Date
1996-08
Author(s)
Chang, Tang-Hsien
Abstract
In order to set up a vehicle lateral controller for steering automation under the project ADVANCE-F, the frequency-shaped linear quadratic control theory is utilised to design the system for meeting requirements involved in tracking precision, robustness and ride quality by properly choosing the weighting factors. The final controller is composed of a full state feedback regulator with an observer. The simulation results reveal that the controller performs satisfactorily under a variety of situations including wind gust disturbance, transition curve and man-machine switching in a wide speed range from 0 kph to 120 kph.
Subjects
Automated highway system
advanced vehicle control system
vehicle dynamics
vehicle lateral control
steering automation
Type
journal article
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