Lateral control of higher order nonlinear vehicle model in emergency maneuvers using absolute positioning GPS and magnetic markers

Author

Hernandez, Jose I. ; Kuo, Chen Yuan

Volume

53

Issue

2

fYear

2004

fDate

3/1/2004 12:00:00 AM

Firstpage

372

Lastpage

384

Abstract

The performance of an automatic steering system based on an absolute positioning global positioning system (GPS) and a magnetic marker reference system during emergency situations is examined in this paper, as it is a vital safety issue in highway automation. Robust control technique in the form of parameter space approach in an invariance plane is utilized for lateral controller design based on a higher order nonlinear vehicle model. In addition, the control system incorporates an exponential smoothing algorithm based on road curvature preview for vehicle-handling enhancement. The proposed estimation and control system is shown, in computer simulations, to be effective in handling vehicle emergency situations.

Keywords

Global Positioning System; automated highways; control system synthesis; invariance; motion control; nonlinear control systems; parameter space methods; position control; road safety; robust control; GPS; Global Positioning System; absolute positioning; automatic steering system; emergency maneuver; exponential smoothing algorithm; higher order nonlinear vehicle model; highway automation; invariance plane; lateral control; magnetic marker; parameter space approach; robust control technique; vehicle-handling enhancement; Automated highways; Automatic control; Automation; Control systems; Global Positioning System; Road safety; Robust control; Smoothing methods; Space vehicles; Steering systems;

fLanguage

English

Journal_Title

Vehicular Technology, IEEE Transactions on

Publisher

ieee

ISSN

0018-9545

Type

jour

DOI

10.1109/TVT.2003.823292

Filename

1275701