An automatic steering control algorithm which resembles the behavior of human steering driver and consisting of central on-board controller and a vehicle built-in actuator system, offers a useful algorithm for the ITS lateral motion control. The central controller is derived from the Position plus Orientation Preview Acceleration (POPA) driver steering model while the vehicle built-in actuator system is derived from the neuromuscular and proprioceptive feedback dynamic of the human driver. The control algorithm is easy to implement, moreover, it provides a smooth switching between the human and automatic steering operations. A NN-vehicle model is developed and trained to account for a broad range of vehicle parameters and operating conditions. The developed controller demonstrated, using simulation example, excellent lane change maneuver performance.
Lateral motion control for intelligent transport system
Ein automatischer Lenk-Algorithmus für intelligente Transportsysteme
1998
7 Seiten, 8 Bilder, 9 Quellen
Conference paper
English
Lateral Motion Control for Intelligent Transport System
British Library Conference Proceedings | 1998
|The Lateral Motion Control for Intelligent Vehicles
Springer Verlag | 2011
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