Analysis of Automatic Steering Control for Highway Vehicles with Look-down Lateral Reference Systems |
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Authors: | Jü rgen Guldner Han-Shue Tan Satyajit Patwardhan |
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Institution: |
a California PATH, University of California at Berkeley, Institute of Transportation Studies, Richmond, CA, USA |
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Abstract: | In this paper, steering control for passenger cars on automated highways is analyzed, concentrating on look-down reference systems. Extension of earlier experimental results for low speed to highway speed is shown to be non-trivial. The limitations of pure output-feedback of lateral vehicle displacement from the road reference are examined under practical constraints and performance requirements like robustness, maximum lateral error and comfort. The in-depth system analysis directly leads to a new alternative design direction which allows to preserve look-ahead reference systems for highway speed automatic driving. |
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