Steering and lane change: a working system

Author

Hatipolglu, C. ; Redmill, Keith ; Özguner, Ümit

Author_Institution

Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA

fYear

1997

fDate

9-12 Nov 1997

Firstpage

272

Lastpage

277

Abstract

In this paper, steering control of ground vehicles is studied and the lane keeping and lane changing algorithms of the 1997 NAHSC OSU Demo Vehicles are presented. The proposed lateral controller uses preview orientation information, longitudinal velocity measurement and a yaw rate sensor output to steer the vehicle autonomously. The only input to the system is the steering angle on the front tires generated through a motor installed on the rack which is also used for driver assist power steering (EPS). Various experimental results that are taken on the HOV lanes of I-15 in San Diego, CA are presented to justify the performance of the developed controller

Keywords

automated highways; motion control; road vehicles; AHS; EPS; NAHSC OSU Demo Vehicles; automated highway systems; driver-assisted power steering; ground vehicles; lane changing; lane keeping; lateral controller; longitudinal velocity measurement; preview orientation information; road vehicles; steering control; yaw rate sensor output; Automated highways; Automatic control; Land vehicles; Mobile robots; Open loop systems; Remotely operated vehicles; Road vehicles; Sensor systems; Vehicle safety; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation System, 1997. ITSC '97., IEEE Conference on

Conference_Location

Boston, MA

Print_ISBN

0-7803-4269-0

Type

conf

DOI

10.1109/ITSC.1997.660487

Filename

660487