A general framework for automatic steering control: system analysis

Patwardhan, Satyajit; Tan, Han-Shue; Guldner, J.

doi:10.1109/acc.1997.610853

Cited by 71 publications

(30 citation statements)

References 7 publications

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“…This tradeoff offers some advantages, as mentioned before, such as faster planning and simpler, easierto-maintain planning algorithms. We are primarily concerned with low-speed path tracking in this paper, although there has been considerable work on high speed vehicle control, such as [8], [9], [10], [11]. However, dynamic effects don't need to be included for low-speed vehicles, as evidenced by some recent papers [12], [13].…”

Section: Related Workmentioning

confidence: 93%

Clothoid segments for optimal switching between arcs during low-speed Ackerman path tracking with rate-limited steering

Berkemeier

2015

2015 American Control Conference (ACC)

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The number of applications for automated ground vehicles has been rapidly increasing. Examples include autonomous mining trucks, tractors, military target vehicles, and durability testing of passenger vehicles. It is convenient to construct desired paths out of tangentially connected circular arc and straight line segments, which have been shown to be optimal in terms of path length. Unfortunately, such paths can not actually be driven if the steering angle is produced by a servo system, which introduces a lag. In previous work we derived optimal schemes for driving such paths under the assumption that the transition between segments was unplanned, i.e. we simply switched to the new segment at some time ahead of actually reaching it. We did this under assumptions of both a linear lag and a nonlinear rate-limited actuator. Here we again consider the case of a rate-limited actuator, but we desire to plan the trajectory that the vehicle will follow when making transitions between segments. An optimal scheme is developed which involves the insertion of three clothoid segments between arc segments. This scheme minimizes the off-path error with respect to the original path. Optimal control theory is used, as well as directly solving numerically for clothoid parameters.

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Section: Related Workmentioning

confidence: 93%

Clothoid segments for optimal switching between arcs during low-speed Ackerman path tracking with rate-limited steering

Berkemeier

2015

2015 American Control Conference (ACC)

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“…Most of the contributions rely on buried magnet or electrified wires placed along the path for the detection of the vehicle lateral position, the so called look down sensing scheme. The problem, in the case of passenger cars, was analyzed in this framework by Patwardhan et al in [4] where they show the fundamental control difficulties of this approach. An interesting alternative approach, that avoids the modification of infrastructures, involves the use of vision sensors placed on the vehicle, the so called look-ahead The [5].…”

Section: Introductionmentioning

confidence: 98%

Experimental results on combined automatic lane keeping and driver's steering

Cerone

Milanese

Regruto

2007

2007 American Control Conference

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In this paper we address the problem of combining automatic lane keeping and driver's steering for either obstacle avoidance or lane change maneuvers for passing purpose or any other desired maneuvers, through a closed loop control strategy. The automatic lane keeping control loop is never opened, and no on/off switching strategy is used. During the driver's maneuver, the vehicle lateral dynamics is controlled by the driver himself through the vehicle steering system. When there is no driver's steering action, the vehicle center of gravity tracks the center of the travelling lane thanks to the automatic lane keeping system. At the beginning (end) of the maneuver, the lane keeping task is released (resumed) safely and smoothly. Experimental results obtained with the proposed two DOF structure along italian highways are presented.Index Terms-Vehicle lateral control, automatic lane keeping, driver's steering.

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“…Similar to [12], we model the non-holonomic vehicles using a kinematic bicycle model which is readily studied in the literature [15]. As Fig.…”

Section: A Static Graph-based Formation Controlmentioning

confidence: 99%

Distributed graph-based convoy control for networked intelligent vehicles

Marjovi

Vasić

Lemaitre

et al. 2015

2015 IEEE Intelligent Vehicles Symposium (IV)

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Abstract-This paper presents an approach for formation control of multi-lane vehicular convoys in highways. We extend a Laplacian graph-based, distributed control law such that networked intelligent vehicles can join or leave the formation dynamically without jeopardizing the ensemble's stability. Additionally, we integrate two essential control behaviors for lane-keeping and obstacle avoidance into the controller. To increase the performance of the convoy controller in terms of formation maintenance and fuel economy, the parameters of the controller are optimized in realistic scenarios using Particle Swarm Optimization (PSO), a powerful metaheuristic optimization method well-suited for large parameter spaces. The performances of the optimized controllers are evaluated in high-fidelity multi-vehicle simulations outlining the efficiency and robustness of the proposed strategy.

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A general framework for automatic steering control: system analysis

Cited by 71 publications

References 7 publications

Clothoid segments for optimal switching between arcs during low-speed Ackerman path tracking with rate-limited steering

Clothoid segments for optimal switching between arcs during low-speed Ackerman path tracking with rate-limited steering

Experimental results on combined automatic lane keeping and driver's steering

Distributed graph-based convoy control for networked intelligent vehicles

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