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

Jose I. Hernandez, Chen-Yuan Kuo

Research output: Contribution to journalArticle

31 Scopus citations

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.

Original languageEnglish (US)
Pages (from-to)372-384
Number of pages13
JournalIEEE Transactions on Vehicular Technology
Volume53
Issue number2
DOIs
StatePublished - Mar 1 2004

Keywords

  • Gain scheduling
  • Invariance plane
  • Nonlinear vehicle model
  • Parameter space approach
  • Robust control
  • Steering control

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics

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