Research on automated lane tracking using linear quadratic control:: control procedure for a curved path

✍ Scribed by Hiroyuki Furusho; Hiroshi Mouri

• Publisher: Elsevier Science
• Year: 1999
• Tongue: English
• Weight: 206 KB
• Volume: 20
• Category: Article
• ISSN: 0389-4304
• DOI: 10.1016/s0389-4304(99)00012-0

✦ Synopsis

When an automated vehicle is travelling along a curved path, the yaw rate and yaw angle do not have values of zero. This means that it is impossible to apply a simple regulator that converges the values of all state variables to zero. This paper describes the use of a set point regulator, which applies linear quadratic control theory while shifting the equilibrium point in a situation where the road curvature is given as feed-forward information. It also proposes a control method that enables an automated vehicle to navigate curves without feed-forward information by estimating the road curvature as it proceeds.