Study of design directions for lateral vehicle control

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

doi:10.1109/cdc.1997.649756

Cited by 31 publications

(18 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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)

View full text Add to dashboard Cite

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.

show abstract

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)

View full text Add to dashboard Cite

show abstract

“…The complete model combining vehicle model (1) and vision dynamics (2) and (3) is represented in state space form as below:…”

Section: Equations Of Motionmentioning

confidence: 99%

An ANFIS Controller for Vision-based Lateral Vehicle Control System

Saifizul

Zainon

Osman

2006

2006 9th International Conference on Control, Automation, Robotics and Vision

View full text Add to dashboard Cite

This paper presents a controller based on an adaptive network fuzzy inference system (ANFIS) for visionbased lateral vehicle control system. The lateral error and relative yaw angle between vehicle longitudinal road tangent directions at certain look-ahead distance are assumed to be measured by vision system and applied to the controller. The fuzzy controller is implemented with ANFIS architecture, which can formalize a systematic approach to generate the fuzzy rule and membership function. Simulation results show that the proposed controller for vision-based vehicle lateral control system is able to make the lateral error and yaw error within the acceptance level.Keywords-Adaptive network fuzzy inference system, vehicle lateral control, vision system.

show abstract

“…The lateral sensing system consists of magnetic markers embedded along the road centerline every 1.2 meter and two sets of magnetometers installed under the vehicle's front and rear bumpers [3] [10]. Experiments have shown that the "look-ahead" scheme utilizing these two sets of magnetometers' outputs results in good control performance [3]. It has also been shown, however, that the performance of the scheme is sensitive to failures of the magnetometers [10].…”

Section: Introductionmentioning

confidence: 99%

“…For example, the value of 0 is chosen such that 99% of the measurement noise is within the range (-0.02 0.02). We set 3,0 =0.003, 3,3 =0.995 and 3,4 =0.002 because the sensing system in failure mode 3 (the rear set of magnetometers suffers from failure F1) at step k is much more likely to stay at mode 3 at step k+1. It's also possible for it to jump to mode 0 (the magnetometer works again) or to mode 4 (the rear set of magnetometers suffers from failure F2).…”

Section: Simulationmentioning

confidence: 99%

“…The vehicle's lateral control system, one of the vital subsystems in AHS, acquires the lateral position from the lateral sensing system and generates steering command to keep the vehicle running along the road centerline. The lateral sensing system consists of magnetic markers embedded along the road centerline every 1.2 meter and two sets of magnetometers installed under the vehicle's front and rear bumpers [3] [10]. Experiments have shown that the "look-ahead" scheme utilizing these two sets of magnetometers' outputs results in good control performance [3].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Sensor fault detection in vehicle lateral control systems via switching kalman filtering

Hsiao¹,

Tomizuka

Proceedings of the 2005, American Control Conference, 2005.

View full text Add to dashboard Cite

-Vehicle lateral control for Automated Highway Systems (AHSs) is concerned with lane keeping and lane changing. It is of critical importance for safe highway operations; it must have fault tolerant capability in order to maintain stability in the event of malfunction of its components. In this paper, we investigate detection, isolation and accommodation of sensor faults. We propose a stochastic framework to which switching Kalman filtering and the EM algorithm are applied to detect faulty sensors and achieve good state estimation. With prior knowledge about the sensor failure modes, multiple sensors can be integrated into the framework, and the single failure assumption is no longer required. Simulations show that the sensor faults are detected immediately after their occurrences. Stability and performance are observed to be satisfactory in the event of sensor failures.

show abstract

Study of design directions for lateral vehicle control

Cited by 31 publications

References 8 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

An ANFIS Controller for Vision-based Lateral Vehicle Control System

Sensor fault detection in vehicle lateral control systems via switching kalman filtering

Contact Info

Product

Resources

About