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Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System

Author

Listed:
  • Tomizuka, Masayoshi
  • Hedrick, J. Karl
  • Pham, Hung

Abstract

In this report, a combined longitudinal and lateral eighteen-state vehicle chassis, engine, and drive train model is developed and validated against existing longitudinal-only and lateral-only vehicle models. The full-size model is simplified to a three-state model to facilitate controller design. The control task in a combined maneuver is defined as the simultaneous regulation of the vehicle's longitudinal and lateral spacings through the application of throttle and steering. Two forms of a Sliding control law are derived based on the reduced order model. One version is decoupled in the longitudinal and lateral dynamics and forces, while the other retains the coupling terms. Nominal stability of the controllers is shown.

Suggested Citation

  • Tomizuka, Masayoshi & Hedrick, J. Karl & Pham, Hung, 1995. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7bh3f4gf, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt7bh3f4gf
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    Citations

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    Cited by:

    1. Tongue, Benson & Moon, Ahrie & Harriman, Doug, 1996. "Low Speed Collision Dynamics: Second Year Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7kx3j3xp, Institute of Transportation Studies, UC Berkeley.
    2. Pham, Hung & Tomizuka, Masayoshi & Hedrick, J. Karl, 1997. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7hk255bn, Institute of Transportation Studies, UC Berkeley.
    3. Forbes, Jeffrey & Et. al.,, 1997. "Feasibility Study Of Fully Autonomous Vehicles Using Decision-theoretic Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4nz42165, Institute of Transportation Studies, UC Berkeley.

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