This paper presents an integrated control method of a light road vehicle driving on a known and high secured itinerary at low speed. A planning module sends a safe and low energy reference trajectory to a control module that permits to manage the trajectory tracking under 50 km/h. A backstepping procedure is presented and formulated to realize a coupled longitudinal and lateral control in lane change or collision avoidance maneuvers.


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    Title :

    Backstepping based approach for the combined longitudinal-lateral vehicle control


    Contributors:


    Publication date :

    2012-06-01


    Size :

    665985 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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