Time-varying steering control for an autonomous highway vehicle

Author

O´Brien, Richard T., Jr. ; Iglesias, Pablo A.

Author_Institution

US Naval Acad., Annapolis, MD, USA

Volume

1

fYear

1998

fDate

21-26 Jun 1998

Firstpage

26

Abstract

An automated steering controller design is presented for a fundamentally new driving maneuver. The task for the controller is to steer the vehicle through a series of lane change maneuvers while travelling at a time-varying speed. A linear, time-varying steering controller is synthesized using a design procedure based on the solution of a H_∞ optimal control problem. This controller is compared to several time-invariant steering controllers and it is shown that the time-varying controller provides performance that a time-invariant controller can not achieve

Keywords

H^∞ control; control system synthesis; linear systems; motion control; position control; road vehicles; time-varying systems; H_∞ control; autonomous road vehicle; driving maneuver; lane change maneuvers; linear systems; motion control; optimal control; steering control; time-varying systems; Automated highways; Automatic control; Automotive engineering; Control systems; Mobile robots; Optimal control; Remotely operated vehicles; Road transportation; Road vehicles; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1998. Proceedings of the 1998

Conference_Location

Philadelphia, PA

ISSN

0743-1619

Print_ISBN

0-7803-4530-4

Type

conf

DOI

10.1109/ACC.1998.694618

Filename

694618