A velocity-adaptive lateral controller is designed to meet requirements pertaining to lateral-position tracking accuracy, ride comfort, and an insensitivity to both changes in critical vehicle parameters and disturbance forces. This controller was tested under full-scale conditions wherein a wire-follower configuration and a dualmode test vehicle were employed. The latter was automatically steered on straight sections of roadway at speeds up to 35.8 m/s, langechanging maneuvers were performed up to this speed, and smallradius (100 m) curves were traversed at speeds up to 17.9 m/s. Excellent lateral control-close tracking, good insensitivity to disturbance forces, and a comfortable ride resulted; thus, a relatively simple controller can be effectively employed for nonemergency situations.
On the Steering of automated vehicles. A velocity-adaptive controller
Ueber die Steuerung bei automatisierten Fahrzeugen. Ein geschwindigkeitsangepasster Regler
IEEE Transactions on Vehicular Technology ; 29 , 4 ; 375-385
1980
11 Seiten, 16 Bilder, 1 Tabelle, 22 Quellen
Aufsatz (Zeitschrift)
Englisch
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