Abstract
Kinematic and dynamic models for lateral vehicle dynamics were discussed in the previous chapter. This chapter discusses lateral control systems used to control a vehicle to stay in the center of its lane.
The chapter is organized as follows. Control design by state feedback is discussed first in section 3.1. Steady state errors and the steady state steering angle required to negotiate a curved road are analyzed in sections 3.2 and 3.3. The subsequent sections of the chapter concentrate on control design by output feedback (sections 3.5, 3.6, 3.7, 3.8, 3.9 and 3.10).
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© 2012 Rajesh Rajamani
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Rajamani, R. (2012). Steering Control for Automated Lane Keeping. In: Vehicle Dynamics and Control. Mechanical Engineering Series. Springer, Boston, MA. https://doi.org/10.1007/978-1-4614-1433-9_3
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DOI: https://doi.org/10.1007/978-1-4614-1433-9_3
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