Abstract This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing


    Beteiligte:
    Shin, T. Y. (Autor:in) / Kim, S. Y. (Autor:in) / Choi, J. Y. (Autor:in) / Yoon, K. S. (Autor:in) / Lee, M. H. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2011-02-01


    Format / Umfang :

    8 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

    Shin, T. Y. / Kim, S. Y. / Choi, J. Y. et al. | Online Contents | 2011


    Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing

    Shin, T. Y. / Kim, S. Y. / Choi, J. Y. et al. | British Library Online Contents | 2011


    Convoy vehicle look-ahead

    DRY ALAN GEORGE | Europäisches Patentamt | 2018

    Freier Zugriff

    Autonomous look-ahead method and system

    RESHEF RAFI / BUNAYA ZAKARIA / GORDNER VOLKER | Europäisches Patentamt | 2023

    Freier Zugriff

    AUTONOMOUS LOOK AHEAD METHODS AND SYSTEMS

    RESHEF ROI / BNAYA ZAHY / GOLDNER VLAD | Europäisches Patentamt | 2023

    Freier Zugriff