In this article the simulation of an automatic steering control algorithm which resembles the behavior of human steering driver and consisting of central controller and a vehicle built-in actuator system, is developed. The central controller is derived from the Position plus Orientation Preview optimum Acceleration (POPA) driver steering model while the vehicle built-in actuator system is derived from the neuromuscular and proprioceptive feedback dynamics of the human driver. The control algorithm is easy to implement, moreover, it provides a smooth switching between the human and automatic steering operations, and therefore offers a useful and direct method for the ITS (Intelligent Transport System) lateral motion control. Simulation examples of the developed controller demonstrate its efficiency to track prescribed lane change maneuvre trajectories.
Lateral motion control algorithm for ITS
Algorithmus zur Steuerung der Seitenbewegung für intelligente Transportsysteme
2000
13 Seiten, 8 Bilder, 10 Quellen
Conference paper
English
Lateral motion control algorithm for ITS
Automotive engineering | 2000
|00ITS016 Lateral Motion Control Algorithm for ITS
British Library Conference Proceedings | 2000
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