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Lateral control of an autonomous vehicle
journal contribution
posted on 2019-02-04, 09:11 authored by Jingjing JiangJingjing Jiang, Alessandro AstolfiThe asymptotic stabilization problem for a class of nonlinear under-actuated systems is studied and solved. Its solution, together with the back-stepping and the forwarding control design methods, is exploited in the control of the nonlinear lateral dynamics of a vehicle. Even though the theoretical studies of the lateral control of autonomous vehicles are traditionally applied to lane keeping cases, the results can be applied to broader range of areas, such as lane changing cases. The comparison between the performances of the closed-loop systems with the given controller and a typical human driver is given and demonstrates the speediness and the effectiveness of the feedback controller.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Transactions on Intelligent VehiclesVolume
3Issue
2Pages
228 - 237Citation
JIANG, J. and ASTOLFI, A., 2018. Lateral control of an autonomous vehicle. IEEE Transactions on Intelligent Vehicles, 3 (2), pp.228-237.Publisher
© Institute of Electrical and Electronics Engineers (IEEE)Version
- AM (Accepted Manuscript)
Publication date
2018Notes
© 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISSN
2379-8858eISSN
2379-8904Publisher version
Language
- en