In contrast to highway, there are some sections not well maintained in urban roads. In these sections, there may be faint lane marks or static obstacles due to construction or some other reasons. Therefore, an automated vehicle following system such as traffic jam assistant should consider these sections to guarantee the safety of the system. In order to achieve this purpose, a model predictive control (MPC) scheme has been developed. The objectives of MPC are to compute the sequence of optimal steering input for vehicle following with obstacle avoidance. For this, the MPC uses the lead vehicle's state and obstacle's position obtained by lidars. For this purpose, a simplified nonlinear model of the vehicle was used to predict the future evolution of the system. Based on this prediction, performance index is optimized under operating constraints at each time step. A test vehicle equipped with two lidars on left and right corner of the front bumper has been developed. And the performance of the proposed MPC-based steering control algorithm has been investigated via vehicle test. Test results show the robust performance of vehicle following in urban environments.


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    Titel :

    Lateral Control for Automated Vehicle Following System in Urban Environments


    Weitere Titelangaben:

    Sae Int. J. Trans. Safety


    Beteiligte:
    Kim, Dongwook (Autor:in) / Kim, Hakgu (Autor:in)

    Kongress:

    SAE 2014 World Congress & Exhibition ; 2014



    Erscheinungsdatum :

    01.04.2014


    Format / Umfang :

    8 pages




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    Lateral Control for Automated Vehicle Following System in Urban Environments

    Kim, D. / Kim, H. / Society of Automotive Engineers | British Library Conference Proceedings | 2014


    A lateral position sensing system for automated vehicle following

    Alleyne, A. / Williams, B. / DePoorter, M. | Tema Archiv | 1998


    An expert fuzzy strategy for vehicle lateral control under urban environments

    Yang,J. / Zheng,N.N. / Xian Jiaotong Univ.,CN | Kraftfahrwesen | 2010



    Vehicle Lateral Control for Automated Highway Systems

    Tomizuka, M. / Hingwe, P. / Society of Automotive Engineers of Japan | British Library Conference Proceedings | 1998