Steering control of automated vehicles using absolute positioning GPS and magnetic markers

Jose I. Hernandez, Chen-Yuan Kuo

Research output: Contribution to journalArticle

52 Scopus citations

Abstract

Steering control for passenger cars on automated highways is analyzed. Feasibility of an automatic steering system based on absolute positioning global positioning system (GPS) and a magnetic marker guidance system has been evaluated using computer simulations. State estimation and control algorithm issues are examined for such control system. By use of GPS and a magnetic marker sensor, an accurate and real-time estimation of the vehicle's lateral displacements with respect to the road can be accomplished. A steering control algorithm based on road curvature preview for achieving good road tracking and providing ride comfort is also presented. The proposed estimation and control system are validated by simulation results.

Original languageEnglish (US)
Pages (from-to)150-161
Number of pages12
JournalIEEE Transactions on Vehicular Technology
Volume52
Issue number1
DOIs
StatePublished - Jan 2003

Keywords

  • Global positioning system (GPS)
  • Magnetic markers
  • State estimation
  • Steering control

ASJC Scopus subject areas

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

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