A historical review on lateral and longitudinal control of autonomous vehicle motions

Khodayari, Alireza; Ghaffari, Ali; Ameli, Sina; Flahatgar, Jamal

doi:10.1109/icmet.2010.5598396

Cited by 96 publications

(64 citation statements)

References 74 publications

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“…More complex maneuvers such as automated takeovers [5] as well as trajectory generation and controller design for longitudinal and lateral movement for vehicle following and collision avoidance [6]- [8] stem from early developments in adaptive cruise control. Finally, strategic decision making procedures for automated highway driving, considering lane change and overtake maneuvers have been treated [9], as well as threat assessment algorithms for lane departure [10].…”

Section: Introductionmentioning

confidence: 99%

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

Wymeersch

Campos

Falcone

et al. 2015

2015 International Conference on Computing, Networking and Communications (ICNC)

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For intelligent transportation systems (ITS) to achieve situational awareness beyond their sensing horizon and to harness coordination capabilities, some form of cooperation will be required. Such cooperation is enabled by vehicle-to-vehicle and vehicle-to-infrastructure wireless communication. The integration between the communication, signal processing, and control sub-systems is non-trivial and requires a co-design, which in turn requires collaboration between these three disciplines. This paper presents a possible evolution of these three disciplines within the context of ITS, as well as several challenges and opportunities.

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Section: Introductionmentioning

confidence: 99%

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

Wymeersch

Campos

Falcone

et al. 2015

2015 International Conference on Computing, Networking and Communications (ICNC)

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“…The longitudinal control's essential function is the measurement of the distance between the preceding and following vehicle to maintain the safety distance. For the latter, a relatively constant speed of the preceding vehicle is required [3]. The lateral control's essential function is to keep the following vehicle behind the preceding vehicle [4].…”

Section: Introductionmentioning

confidence: 99%

Automated heterogeneous platoons in unstructured environment: Real time tracking of a preceding vehicle using video stream

Alfraheed

Dröge

Schilberg

et al. 2014

2014 5th International Conference on Information and Communication Systems (ICICS)

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In autonomous driving, object tracking is necessary to gather actual information about the object of interest. The longitudinal and lateral controls of automated highway systems need a target object not only to maintain the safety distance between vehicles but also to keep the following vehicle in the same track as the preceding vehicle. So far automated highway systems were only developed for urban and highway environment depending on lane markings. In future, their application should be extended to unstructured environments (e.g. desert) and be adapted for heterogeneous vehicles. In this paper an approach towards this is presented, where the back view of preceding vehicle is the target object. This solution is independent from the environmental structure as well as additional equipment like infrared emitters. In this paper, the tracking process of the back view is discussed using video streams recorded by a stereo vision system. For an accurate and fast tracking in unstructured environment and with heterogeneous platoons the proposed method is a supplement to the detection process. Therefore, the tracking process has to be a) applicable under real time constraints and b) adaptable in dynamic environments. Compared to other methods related to object detection and tracking, the proposed method reduces the running time for the tracking of the back view from reported 12 -30 to 16 -66 frame/s.

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“…The longitudinal or lateral vehicle control problem has been treated in several ways and in many publications (see, for example, [2], [4], [12], [18], [21], [23], and the references therein). Longitudinal and lateral control moreover were generally treated separately.…”

Section: Introductionmentioning

confidence: 99%

Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

Menhour

d’Andréa-Novel

Fliess

et al. 2013

52nd IEEE Conference on Decision and Control

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To cite this version:Lghani Menhour, Brigitte D'Andréa-Novel, Michel Fliess, Hugues Mounier. Abstract-The newly introduced model-free control is applied to a multivariable decoupled longitudinal and lateral vehicle control. It combines two outputs (lateral and longitudinal motions) via two inputs (braking/traction wheel torques and steering angle). It yields driving maneuvers requiring a control coordination of steering angle, braking and traction torques, in order to ensure an accurate tracking in straight or curved trajectories. It is also robust with respect to modeling errors and parametric uncertainties, even during critical driving situations, where such a control is required. Convincing computer simulations are displayed with noisy real data from a laboratory vehicle, which were used as reference trajectories and acquired under high lateral accelerations.

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A historical review on lateral and longitudinal control of autonomous vehicle motions

Cited by 96 publications

References 74 publications

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

Challenges for cooperative ITS: Improving road safety through the integration of wireless communications, control, and positioning

Automated heterogeneous platoons in unstructured environment: Real time tracking of a preceding vehicle using video stream

Multivariable decoupled longitudinal and lateral vehicle control: A model-free design

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