Abstract
The performance of an automatic steering system based on an absolute positioning global positioning system (GPS) and a magnetic marker reference system during emergency situations is examined in this paper, as it is a vital safety issue in highway automation. Robust control technique in the form of parameter space approach in an invariance plane is utilized for lateral controller design based on a higher order nonlinear vehicle model. In addition, the control system incorporates an exponential smoothing algorithm based on road curvature preview for vehicle-handling enhancement. The proposed estimation and control system is shown, in computer simulations, to be effective in handling vehicle emergency situations.
Original language | English (US) |
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Pages (from-to) | 372-384 |
Number of pages | 13 |
Journal | IEEE Transactions on Vehicular Technology |
Volume | 53 |
Issue number | 2 |
DOIs | |
State | Published - Mar 1 2004 |
Keywords
- Gain scheduling
- Invariance plane
- Nonlinear vehicle model
- Parameter space approach
- Robust control
- Steering control
ASJC Scopus subject areas
- Automotive Engineering
- Aerospace Engineering
- Electrical and Electronic Engineering
- Applied Mathematics