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On Fundamental Issues Of Vehicle Steering Control For Highway

Author

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  • Guldner, Jurgen
  • Tan, Han-shue

Abstract

This paper discusses fundamental issues in lateral control design for automatic steering of passenger cars within an Automated Highway System ( AHS). A detailed analysis using time and frequency domain tools together with physical insight into the vehicle dynamics is presented. Several design directions are investigated, both for look-down and look-ahead systems. In order to preserve the qualities of look-down systems, the concept of virtual look-ahead via additional yaw error and yaw rate error measurements is introduced. The authors conclude that proportional-type feedback design suffices if the lateral vehicle dynamics itself provide phase lead for stabilization. On the other hand, a phase lead controller is required for shorter look-ahead distances.

Suggested Citation

  • Guldner, Jurgen & Tan, Han-shue, 1997. "On Fundamental Issues Of Vehicle Steering Control For Highway," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt84v8d9pc, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt84v8d9pc
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