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.
Research on automated lane tracking using linear quadratic control: control procedure for a curved path
Forschungsarbeit über automatische Fahrspurführung mit linear quadratischer Regelung: Regelvorgang für eine gekrümmte Bahn
JSAE Review ; 20 , 3 ; 325-329
1999
5 Seiten, 9 Bilder, 2 Quellen
Article (Journal)
English
Automotive engineering | 1999
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