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Lateral Control Of Front-wheel-steering Rubber-tire Vehicles

Author

Listed:
  • Peng, Huei
  • Tomizuka, Masayoshi

Abstract

In this paper, two models were developed to describe the lateral dynamics of a vehicle for different purposes. The lateral feedback and feedforward controllers are designed to satisfy the above objective based on a linearized model, which includes only the lateral and yaw motions. The performance of the controllers is evaluated on a complex model, which includes motions in all six directions (longitudinal, lateral, vertical, roll, pitch and yaw). It has been validated by numerical simulations that the responses of the complex model and the simplified model remain close to each other when the steering is not too abrupt.

Suggested Citation

  • Peng, Huei & Tomizuka, Masayoshi, 1990. "Lateral Control Of Front-wheel-steering Rubber-tire Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4t17m5nn, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt4t17m5nn
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    Citations

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    Cited by:

    1. Shiller, Zvi & Sundar, Satish, 1996. "Optimal Emergency Maneuvers Of Automated Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4xc0k0fs, Institute of Transportation Studies, UC Berkeley.
    2. Broucke, M. & Varaiya, P., 1995. "A Theory Of Traffic Flow In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4h41g68m, Institute of Transportation Studies, UC Berkeley.
    3. Peng, Huei & Tomizuka, Masayoshi, 1991. "Optimal Preview Control For Vehicle Lateral Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3jj2q67v, Institute of Transportation Studies, UC Berkeley.
    4. Chee, Wonshik & Tomizuka, Masayoshi, 1994. "Vehicle Lane Change Maneuver In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt29j5s3gk, Institute of Transportation Studies, UC Berkeley.
    5. Chira-Chavala, Ted & Yoo, S. M., 1992. "Feasibility Study Of Advanced Technology Hov Systems: Volume 1: Phased Implementation Of Longitudinal Control Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt2wh2v2vc, Institute of Transportation Studies, UC Berkeley.
    6. Chee, Wonshik & Tomizuka, Masayoshi, 1997. "Unified Lateral Motion Control Of Vehicles For Lane Change Maneuvers In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4ws4d2j0, Institute of Transportation Studies, UC Berkeley.

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