Adaptive longitudinal velocity and lane keeping control of four-wheel-steering vehicles

被引：0
|
作者：
Yoshida, Yuma [1 ]
Wang, Qiang [1 ]
Oya, Masahiro [1 ]
Okumura, Katsuhiro [2 ]
机构：
[1] Kyushu Inst Technol, Dept Mech & Control Engn, Fukuoka, Japan
[2] Fukuoka Ind Technol Ctr, Fukuoka 8070831, Japan
来源：
PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 | 2007年
关键词：
adaptive control; lane keeping; automatic steering control; longitudinal velocity; lateral velocity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new adaptive longitudinal velocity and lane keeping control scheme for four-wheel-steering vehicles without measurement of lateral velocity is proposed. At first, a method to design ideal longitudinal velocities and ideal transient trajectories for relative lateral distance and relative yaw angle is shown. Then, an adaptive controller is developed so that the tracking error between actual vehicle and ideal trajectories become asymptotically stable. The developed controller doesn't require the measurement of lateral velocity of vehicles and the accurate knowledge of all vehicle parameters.
引用
收藏
页码：1301 / +
页数：2
相关论文
共 50 条
  • [41] Adaptive Multivariable Super-Twisting Control for Lane Keeping of Autonomous Vehicles with Differential Steering
    Hu, Chuan
    Wang, Rongrong
    Qin, Yechen
    2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 2018, : 197 - 202
  • [42] Decoupling control in velocity-varying four-wheel steering vehicles with H∞ performance by longitudinal velocity and yaw rate feedback
    Li, Mingxing
    Jia, Yingmin
    VEHICLE SYSTEM DYNAMICS, 2014, 52 (12) : 1563 - 1583
  • [43] Adaptive sliding mode control of a four-wheel-steering autonomous vehicle with uncertainty using parallel orientation and position control
    Norouzi, Armin
    Adibi-Asl, Hadi
    Kazemi, Reza
    Hafshejani, Parvin Fathi
    INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS, 2020, 27 (04) : 499 - 518
  • [44] Stochastic Hopf bifurcation of four-wheel-steering system
    Huang, DW
    Wang, HL
    Qiao, Y
    Zhu, ZW
    ADVANCES IN STOCHASTIC STRUCTURAL DYNAMICS, 2003, : 207 - 214
  • [45] A motion controller for compliant four-wheel-steering robots
    Santana, Pedro F.
    Candido, Carlos
    Santos, Vasco
    Barata, Jose
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3, 2006, : 532 - 537
  • [46] Strange nonchaotic attractors and bifurcation of a four-wheel-steering vehicle system with driver steering control
    Miao, Pengcheng
    Duan, Jicheng
    Li, Denghui
    Grebogi, Celso
    JOURNAL OF SOUND AND VIBRATION, 2025, 596
  • [47] Control of Four-Wheel-Steering Vehicle Using GA Fuzzy Neural Network
    Wu, Shijing
    Zhu, Enyong
    Qin, Ming
    Ren, Hui
    Lei, Zhipeng
    INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL 1, PROCEEDINGS, 2008, : 869 - 873
  • [48] Four-wheel-steering system based on the variable structure model following control
    Guan, Xiqiang
    Qu, Qiuzhen
    Zhang, Jianwu
    Liu, Yanqing
    Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, 2002, 38 (03): : 54 - 58
  • [49] An advanced vehicle control method using independent four-wheel-steering system
    Kageyama, I
    Jo, HY
    IEEE CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS, 1997, : 954 - 959
  • [50] Adaptive coordinated control strategy for autonomous vehicles based on four-wheel steering
    Wang, Ziheng
    Chen, Long
    Cai, Yingfeng
    Sun, Xiaoqiang
    Wang, Hai
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2025, 239 (2-3) : 548 - 563
12345