This chapter begins with the introduction of the basic tire and longitudinal and lateral vehicle dynamics models that will be used in the rest of the book. It introduces the path geometry, combining both distance to path and orientation error at a variable preview distance. The chapter also introduces and compares the simple pure pursuit and the more complicated Stanley steering control methods for path tracking. The dynamics of a road vehicle for following a path or executing an evasive maneuver is actually controlled by indirectly manipulating the tire forces using the direct actuation interfaces of steering, throttle, and brake. The chapter also presents a discussion of how the linearized path‐tracking model developed and presented can be modified to form a path‐tracking model for driving in reverse as an ending note.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Vehicle, Path, and Path Tracking Models


    Contributors:


    Publication date :

    2021-12-21


    Size :

    38 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    PATH ASSIGNMENT TECHNIQUES FOR VEHICLE TRACKING

    Altendorfer, R. / Wirkert, S. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2014


    Stability of a nonholonomic path-tracking vehicle

    Baumgartner, Eric / Yoder, John-David / Skaar, Steven | AIAA | 1997


    Stability of a Nonholonomic Path-Tracking Vehicle

    Baumgartner, E. T. / Yoder, J.-D. / Skaar, S. B. et al. | British Library Conference Proceedings | 1997



    LATERAL CONTROL IN PATH-TRACKING OF AUTONOMOUS VEHICLE

    YU JINGSHENG | European Patent Office | 2022

    Free access