An automotive lateral controller based on generalized predictive control theory

✍ Scribed by Shinichiro Horiuchi; Toshiyuki Tamatsukuri; Shinya Nohtomi

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 247 KB
• Volume: 21
• Category: Article
• ISSN: 0389-4304
• DOI: 10.1016/s0389-4304(99)00076-4

✦ Synopsis

This paper proposes a new design method of a lane tracking control system based on Generalized Predictive Control theory. The proposed system realizes the preview control without the `perfect measurementa assumption. A series of computer simulations and frequency domain analyses were carried out to show the validity of the proposed control system. In comparison with a lane tracking system using preview LQI control algorithm, it is shown that this controller achieves good lateral tracking performance and improved ride quality due to small variations of lateral acceleration.