Lateral Control of an Autonomous Vehicle
File(s)paper1.pdf (1.81 MB)
Accepted version
Author(s)
Jiang, J
Astolfi, Alessandro
Type
Journal Article
Abstract
The 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.
Date Issued
2018-06
Date Acceptance
2017-12-21
Citation
IEEE Transactions on Intelligent Vehicles, 2018, 3 (2), pp.228-237
ISSN
2379-8858
Publisher
Institute of Electrical and Electronics Engineers
Start Page
228
End Page
237
Journal / Book Title
IEEE Transactions on Intelligent Vehicles
Volume
3
Issue
2
Copyright Statement
© 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. The manuscript here is the post-print (ie final draft post-refereeing) of the published article: J. Jiang and A. Astolfi, "Lateral Control of an Autonomous Vehicle," in IEEE Transactions on Intelligent Vehicles, vol. 3, no. 2, pp. 228-237, June 2018.
doi: 10.1109/TIV.2018.2804173
doi: 10.1109/TIV.2018.2804173
Sponsor
Commission of the European Communities
Grant Number
664639
Publication Status
Published
Date Publish Online
2018-02-08