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 Citations (Scopus)

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 2004

Fingerprint

Global Positioning System
Emergency
Positioning
Global positioning system
Lateral
Emergency vehicles
Control System
Higher Order
Exponential Smoothing
Control systems
Smoothing Algorithm
Robust control
Invariance
Robust Control
Controller Design
Automation
Parameter Space
Computer Simulation
Enhancement
Safety

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Networks and Communications

Cite this

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