A new method to stabilize a vehicle, which is autonomously guided on the road by anoptical sensor, is presented. Since the behavior of a vehicle is nonlinear and contains mutual couplings in the dynamical variables, the design especially of algorithms for traverse control is based on the universal valid principle of feedback linearization. This method works independently from any operating point and, thus, a high degree of accuracy and free pole assignment for the overall system is provided. The design of the control system is based on absolute angular velocities. A strategy transforming these variables into a relative by an adequate transformation is described. Thus, the control error of the angle describing the direction of movement is forced to disappear. As all essential nonlinearities in the dynamics of the vehicle body, the wheels and the tyres are compensated, a linear behavior with free pole assignment can be imposed on the overall system. Disturbances are handled by an integral term in the control algorithm. Therefore stability and convergence can be guaranteed even in case of constant disturbances.


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    Titel :

    A strategy for road tracking in automated vehicle guidance


    Weitere Titelangaben:

    Eine Wegsteuerungsstrategie für die Lenkung automatischer Fahrzeuge


    Beteiligte:
    Mayr, R. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1996


    Format / Umfang :

    6 Seiten, 6 Bilder, 5 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




    A strategy for road tracking in automated vehicle guidance

    Mayr, R. / International Federation of Automatic Control | British Library Conference Proceedings | 1997


    Automated vehicle guidance in road traffic:implementation by evolution of vehicle technology

    Minderhoud,M.M. / Bovy,P.H. / Delft Univ.of Technology,NL | Kraftfahrwesen | 1996


    Reference generation and control strategy for automated vehicle guidance

    Attia, Rachid / Daniel, Jeremie / Lauffenburger, Jean-Philippe et al. | IEEE | 2012


    Automated Vehicle Guidance in Road Traffic: Implementation by Evolution of Vehicle Technology

    Minderhoud, M. M. / Bovy, P. H. L. | British Library Conference Proceedings | 1996


    Reference Generation and Control Strategy for Automated Vehicle Guidance

    Attia, R. / Daniel, J. / Lauffenburger, J.-P. et al. | British Library Conference Proceedings | 2012