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.


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    Title :

    Lateral motion control for intelligent transport system


    Additional title:

    Ein automatischer Lenk-Algorithmus für intelligente Transportsysteme


    Contributors:
    Habib, M. (author) / Auda, G. (author)


    Publication date :

    1998


    Size :

    7 Seiten, 8 Bilder, 9 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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