A Reusability Study of Vehicle Lateral Control System |
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| Authors: | Huei Peng Weibin Zhang Masayoshi Tomizuka Steven Shladover |
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| Institution: |
a University of Michigan, Ann Arbor, MI
b California Parters for Advanced Transit and Highways Program, Institute of Transporation Studies,
c Department of Mechanical Engineering, University of California, Berkeley, CA |
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| Abstract: | The architecture of the PATH vehicle lateral control system is presented in this paper. The two main modules are an intelligent reference/sensing system, and an Frequency-Shaped-Linear-Quadratic/preview control algorithm. The whole lateral control system was formerly evaluated on a two-door test vehicle. It was transplanted to a four-door vehicle which is considerably different from the older two-door test vehicle in dynamic characteristics. The objective of this study is to investigate the reusability of our control system. |
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