A new method to stabilize a vehicle which is autonomously guided on the road vehicle is nonlinear and contains mutual couplings in the variables, the design of the algorithms for lateral control on the universal method works high degree of accuracy and free pole system is provided, absolute angular velocities. A strategy transforming these variables into a relative system by an adequate transformation is described. A linear behavior with free pole assignment can be imposed on the overall system and disturbances are handled by an integral term in the control algorithm. Therefore stability and convergence can be guaranteed even in case of constant disturbances.
Transverse control of intelligent autonomous vehicles
Transversale Steuerung intelligenter autonomer Fahrzeuge
1994
8 Seiten, 5 Bilder, 7 Quellen
Conference paper
English
Transverse control of intelligent autonomous vehicles
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