This paper proposes a new design method of a lane tracking control system based on Generalized Predictive Control theory. The proposed system realizes the preview control without the 'perfect measurement' assumption. A series of computer simulations and frequency domain analyses were carried out to show the validity of the proposed control system. In comparison with a lane tracking system using preview LQI control algorithm, it is shown that this controller achieves good lateral tracking performance and improved ride quality due to small variations of lateral acceleration.


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    Titel :

    An automotive lateral controller based on generalized predictive control theory


    Weitere Titelangaben:

    Ein Spurführungssystem auf der Basis der Theorie verallgemeinerter prädiktiver Regler


    Beteiligte:
    Horiuchi, S. (Autor:in) / Tamatsukuri, T. (Autor:in) / Nohtomi, S. (Autor:in)

    Erschienen in:

    JSAE Review ; 21 , 1 ; 53-59


    Erscheinungsdatum :

    2000


    Format / Umfang :

    7 Seiten, 9 Bilder, 2 Tabellen, 7 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





    An automotive lateral controller based in generalized predictive control theory

    Horiuchi,S. / Tamatsukuri,T. / Nohtomi,S. et al. | Kraftfahrwesen | 2000


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    On the optimal design of an automotive lateral controller

    Fenton, R.E. / Selim, I. | Tema Archiv | 1988