The design of a look-down feedback adaptive controller for the lateral control of front-wheel-steering autonomous highway vehicles

被引：14
作者：
Choi, SB [1 ]
机构：
[1] TRW, Livonia, MI 48150 USA
来源：
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY | 2000年 / 49卷 / 06期
关键词：
adaptive; autonomous; control; vehicle;
D O I：
10.1109/25.901895
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
An adaptive control law and a distance rate observer were del eloped for the lateral control of autonomous vehicles. The control law and the observer were implemented on a passenger vehicle. The test results show that both tight lateral tracking control and smooth steering can be achieved without feed forward information. The developed control law is shown to be very robust to changes in the most critical vehicle control parameters.
引用
收藏
页码：2257 / 2269
页数：13
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