A combined nonlinear longitudinal and lateral vehicle control is investigated. Flatness-based nonlinear control and new algebraic estimation techniques for noise removal and numerical differentiation are the main theoretical tools. An accurate automatic path-tracking via vehicle steering angle and driving/braking wheel torque is thus ensured. It combines the control of the lateral and longitudinal motions in order to track straight or curved trajectories and to perform a combined lane-keeping and steering control during critical driving situations such as obstacle avoidance, stop-and-go control, lane-change maneuvers or any other maneuvers. Promising results have been obtained with noisy experimental data, which were acquired by a laboratory vehicle with high dynamic loads and high lateral accelerations.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Coupled nonlinear vehicle control: Flatness-based setting with algebraic estimation techniques


    Contributors:

    Published in:

    Publication date :

    2014


    Size :

    12 Seiten, 40 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Flatness-Based Vehicle Coupled Control for Steering Stability and Path Tracking

    Wang, Yuqiong / Shi, Shuming / Li, Ling | Springer Verlag | 2015


    Flatness-Based Vehicle Coupled Control for Steering Stability and Path Tracking

    Wang, Yuqiong / Shi, Shuming / Li, Ling | British Library Conference Proceedings | 2016


    Robust Flatness-Based Control With Nonlinear Observer for Boost Converters

    Shahrouei, Zohreh / Rahmati, Mahsa / Gavagsaz-Ghoachani, Roghayeh et al. | IEEE | 2023


    A new flatness-based control of lateral vehicle dynamics

    Antonov,S. / Fehn,A. / Kugi,A. et al. | Automotive engineering | 2008


    A new flatness-based control of lateral vehicle dynamics

    Antonov, S. / Fehn, A. / Kugi, A. | Tema Archive | 2008