Title :
Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle
Author :
Schorn, Matthias ; Stählin, Ulrich ; Khanafer, Ali ; Isermann, Rolf
Author_Institution :
Inst. of Autom. Control, Darmstadt Univ. of Technol.
Abstract :
A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown
Keywords :
Kalman filters; collision avoidance; feedback; nonlinear control systems; road vehicles; state estimation; steering systems; Kalman filter based vehicle state estimation; automatic steering; collision avoiding vehicle driver assistance; emergency steering; feedback control; nonlinear trajectory following control; sideslip angle estimation; steering interventions; Actuators; Automatic control; Collision avoidance; Driver circuits; Electrohydraulics; Feedback control; State estimation; Testing; Vehicle detection; Vehicle driving;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657656
