NDLI: An analytical study of vehicle steering control

Content Provider	IEEE Xplore Digital Library
Author	Ozguner, U. Unyelioglu, K.A. Hatipoglu, C.
Copyright Year	1995
Description	Author affiliation: Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA (Ozguner, U.)
Abstract	This paper considers the design and stability analysis of a steering controller. The objective of the controller is to steer a ground vehicle along a reference line located in the middle of the lane to be followed. The authors define an arbitrary look-ahead point located on the local longitudinal axis of the vehicle. The distance between the look-ahead point and the reference line is called the look-ahead offset. During perfect lane tracking, the ratio of the steer angle to the look-ahead offset is independent of the curve radius under reasonable approximations. That ratio is computed in terms of the vehicle speed and various vehicle parameters. Then, a constant controller is designed to achieve that ratio at steady-state. The controller is updated as a function of the vehicle speed. The only information processed by the controller is the look-ahead offset, which can be measured using a radar-based or a vision-based sensor. Using Routh-Hurwitz analysis, the authors analytically prove that the closed-loop system is stable. Given any range of longitudinal speeds, there exists a sufficiently large look-ahead distance ensuring the closed-loop stability for all speeds in that speed range.
Starting Page	125
Ending Page	130
File Size	782989
Page Count	6
File Format	PDF
ISBN	0780325508
DOI	10.1109/CCA.1995.555653
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-09-28
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Automatic control Radar tracking Stability analysis Land vehicles Steady-state Intelligent vehicles Communication system traffic control Control systems Gravity Tires
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
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
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
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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