This paper presents an integrated control method of a light road vehicle driving on a known and high secured itinerary at low speed. A planning module sends a safe and low energy reference trajectory to a control module that permits to manage the trajectory tracking under 50 km/h. A backstepping procedure is presented and formulated to realize a coupled longitudinal and lateral control in lane change or collision avoidance maneuvers.
Backstepping based approach for the combined longitudinal-lateral vehicle control
2012 IEEE Intelligent Vehicles Symposium ; 395-400
01.06.2012
665985 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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