In this paper, steering control for passenger cars on automated highways is analyzed, concentrating on look-down reference systems. Extension of earlier experimental results for low speed to highway speed is shown to be non-trivial. The limitations of pure output-feedback of lateral vehicle displacement from the road reference are examined under practical constraints and performance requirements like robustness, maximum lateral error and comfort. The in-depth system analysis directly leads to a new alternative design direction which allows to preserve look-ahead reference systems for highway speed automatic driving.


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    Title :

    Analysis of Automatic Steering Control for Highway Vehicles with Look-down Lateral Reference Systems


    Contributors:

    Published in:

    Vehicle System Dynamics ; 26 , 4 ; 243-269


    Publication date :

    1996-10-01




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown