NDLI: Vehicle lateral control for automated highway systems

Content Provider	IEEE Xplore Digital Library
Author	O'Brien, R.T. Iglesias, P.A. Urban, T.J.
Copyright Year	1993
Abstract	This paper addresses the modeling and control of the lateral motion of a highway vehicle. In particular, a steering controller is designed that tracks the center of the present lane on both curved and straight highway sections without knowledge of the radius of curvature of the road. Also, it is shown that a lane change maneuver can be completed on a curved road section using this controller. The controller is designed using an H/sub /spl infin//-based loop shaping design procedure due to McFarlane and Glover. It is shown that this controller achieves the required performance as well as exhibiting excellent robustness. In particular, the controller's robustness due to varying speeds, icy road conditions, and wind gusts are examined.
Sponsorship	IEEE Control Systems Society
Starting Page	266
Ending Page	273
Page Count	8
File Size	952433
File Format	PDF
ISSN	10636536
Volume Number	4
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1996-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Road vehicles Automatic control Control systems Automated highways Robust control Open loop systems Intelligent transportation systems Adaptive control Error correction Physics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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