Trajectory tracking for highly automated passenger vehicles
| Autor: | Said Mammar, Benoit Lusseti, Salim Hima, Sebastien Glaser, Benoit Vanholme |
|---|---|
| Přispěvatelé: | Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs (IFSTTAR/LIVIC), Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR), Informatique, Biologie Intégrative et Systèmes Complexes (IBISC), Université d'Évry-Val-d'Essonne (UEVE), Bittanti, Sergio, Cenedese, Angelo, Zampieri, Sandro |
| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
050210 logistics & transportation
0209 industrial biotechnology Engineering business.industry 05 social sciences Tracking system Control engineering Intelligent transportation systems 02 engineering and technology Steering wheel Tracking (particle physics) Automotive engineering 020901 industrial engineering & automation Control theory 11. Sustainability 0502 economics and business Trajectory business Adaptive and robust control of automotive systems Intelligent transportation system Trajectory tracking and path following |
| Zdroj: | Proc. of the 18th World Congress of the International Federation of Automatic Control (IFAC 2011) 18th World Congress of the International Federation of Automatic Control (IFAC 2011) 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Aug 2011, Milano, Italy. elec. proc., ⟨10.3182/20110828-6-IT-1002.03594⟩ |
| DOI: | 10.3182/20110828-6-IT-1002.03594⟩ |
| Popis: | International audience; In this paper, the design of the longitudinal and lateral controller for dynamic trajectory tracking is presented. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steering wheel and accelerations. A primary experimental implementation on the vehicle test prototype is presented. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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