When an automated vehicle is travelling along a curved path, the yaw rate and yaw angle do not have values of zero. This means that it is impossible to apply a simple regulator that converges the values of all state variables to zero. This paper describes the use of a set point regulator, which applies linear quadratic control theory while shifting the equilibrium point in a situation where the road curvature is given as feed-forward information. It also proposes a control method that enables an automated vehicle to navigate curves without feed-forward information by estimating the road curvature as it proceeds.


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    Title :

    Research on automated lane tracking using linear quadratic control: control procedure for a curved path


    Additional title:

    Forschungsarbeit über automatische Fahrspurführung mit linear quadratischer Regelung: Regelvorgang für eine gekrümmte Bahn


    Contributors:
    Furusho, H. (author) / Mouri, H. (author)

    Published in:

    JSAE Review ; 20 , 3 ; 325-329


    Publication date :

    1999


    Size :

    5 Seiten, 9 Bilder, 2 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Research on automated lane tracking using linear quadratic control: control procedure for curved path

    Furusho,H. / Mouri,H. / Nissan Motor,Nissan Research Center,JP | Automotive engineering | 1999



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