When an automated vehicle is travelling along a curved path, the yaw rate and yaw angle do not have values of zero. This means that it is impossible to apply a simple regulator that converges the values of all state variables to zero. This paper describes the use of a set point regulator, which applies linear quadratic control theory while shifting the equilibrium point in a situation where the road curvature is given as feed-forward information. It also proposes a control method that enables an automated vehicle to navigate curves without feed-forward information by estimating the road curvature as it proceeds.


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    Titel :

    Research on automated lane tracking using linear quadratic control: control procedure for a curved path


    Weitere Titelangaben:

    Forschungsarbeit über automatische Fahrspurführung mit linear quadratischer Regelung: Regelvorgang für eine gekrümmte Bahn


    Beteiligte:
    Furusho, H. (Autor:in) / Mouri, H. (Autor:in)

    Erschienen in:

    JSAE Review ; 20 , 3 ; 325-329


    Erscheinungsdatum :

    1999


    Format / Umfang :

    5 Seiten, 9 Bilder, 2 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




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