Techniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation.
Automated vehicle guidance using discrete reference markers
Automatische Fahrzeugfuehrung mittels diskreten Referenzmarkierungen
IEEE Transactions on Vehicular Technology ; 28 , 1 ; 95-106
1979
12 Seiten, 10 Bilder, 2 Tabellen, 18 Quellen
Aufsatz (Zeitschrift)
Englisch
Reference Generation and Control Strategy for Automated Vehicle Guidance
British Library Conference Proceedings | 2012
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