A velocity-adaptive lateral controller is designed to meet requirements pertaining to lateral-position tracking accuracy, ride comfort, and an insensitivity to both changes in critical vehicle parameters and disturbance forces. This controller was tested under full-scale conditions wherein a wire-follower configuration and a dualmode test vehicle were employed. The latter was automatically steered on straight sections of roadway at speeds up to 35.8 m/s, langechanging maneuvers were performed up to this speed, and smallradius (100 m) curves were traversed at speeds up to 17.9 m/s. Excellent lateral control-close tracking, good insensitivity to disturbance forces, and a comfortable ride resulted; thus, a relatively simple controller can be effectively employed for nonemergency situations.


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    Title :

    On the Steering of automated vehicles. A velocity-adaptive controller


    Additional title:

    Ueber die Steuerung bei automatisierten Fahrzeugen. Ein geschwindigkeitsangepasster Regler


    Contributors:

    Published in:

    Publication date :

    1980


    Size :

    11 Seiten, 16 Bilder, 1 Tabelle, 22 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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