In this paper, steering control of ground vehicles is studied and the lane keeping and lane changing algorithms of the 1997 NAHSC OSU Demo Vehicles are presented. The proposed lateral controller uses preview orientation information, longitudinal velocity measurement and a yaw rate sensor output to steer the vehicle autonomously. The only input to the system is the steering angle on the front tires generated through a motor installed on the rack which is also used for driver assist power steering (EPS). Various experimental results that are taken on the HOV lanes of I-15 in San Diego, CA are presented to justify the performance of the developed controller.


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    Titel :

    Steering and lane change: a working system


    Beteiligte:
    Hatipolglu, C. (Autor:in) / Redmill, K. (Autor:in) / Ozguner, U. (Autor:in)


    Erscheinungsdatum :

    01.01.1997


    Format / Umfang :

    611796 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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