Abstract
This paper presents a modified lateral control method for an autonomous vehicle with both look-ahead and look-down sensing systems. To cope with sensor noise and modeling uncertainty in the lateral control of the vehicle, a modified LMI-based H lateral controller was proposed, which uses the look-ahead information of the lateral offset error measured at the front of vehicle and the look-down information of the vehicle yaw angle error between the reference lane and the centerline of the vehicle. To verify the safety and the performance of the lateral control, a scaled-down vehicle was developed, and the positioning of the vehicle was estimated with USAT. The proposed controller, which uses both look-ahead and look-down information, was tested for lane changing and reference lane tracking with both simulation and experiment. The simulation and experimental results show that the proposed controller has better tracking and handling performance compared with a controller that uses only the look-ahead information of the target heading angle error.
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Abbreviations
- Ψ p :
-
heading of the vehicle
- υ :
-
the lateral velocity of the vehicle at its C.G.
- u :
-
the longitudinal velocity of the vehicle at C.G.
- δ :
-
steering angle
- m :
-
the total mass of the vehicle
- I zz :
-
the yaw moment of inertia
- l :
-
wheelbase of the vehicle
- a/b:
-
the distance from the vehicle’s C.G. to the front/rear axles
- a y :
-
the lateral acceleration of the vehicle
- γ :
-
the yaw rate of the vehicle
- C f /C r :
-
the front/rear cornering stiffnesses
- L :
-
look-ahead distance from the C.G. of the vehicle
- ρ ref :
-
curvature of the reference lane
- y e :
-
lateral offset error at the look-ahead position
- Ψ e :
-
vehicle’s yaw angle error
- β T :
-
target heading angle toward the target point
- d T :
-
target distance
- r T (i):
-
the radius of the ith circular lane
- x0(i):
-
the initial x position of the ith lane in global coordinates
- y0(i):
-
the initial y position of the ith lane in global coordinates
- Ψ0(i):
-
the starting yaw angle at the starting point of the ith lane
- (x, y, z):
-
the positions of the ultrasonic receivers
- (x i , y i , z i ):
-
the fixed position of the ith ultrasonic transmitter
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Shin, T.Y., Kim, S.Y., Choi, J.Y. et al. Modified lateral control of an autonomous vehicle by look-ahead and look-down sensing. Int.J Automot. Technol. 12, 103–110 (2011). https://doi.org/10.1007/s12239-011-0013-0
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DOI: https://doi.org/10.1007/s12239-011-0013-0