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Optimal Control with Preview for Lateral Steering of a Passenger Car: Design and Test on a Driving Simulator

  • Louay Saleh
  • Philippe Chevrel
  • Jean-François Lafay
Chapter
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 423)

Abstract

This paper is dedicated to studying the characteristics of the optimal preview control for lateral steering of a passenger vehicle. Such control is known to guarantee improved performance when the near future of the exogenous signal, here the road curvature, is known. The synthesis is performed in continuous time and leads to a two-degrees of freedom feedback and feedforward controller, whose feedforward part is a finite impulse response filter. The controller has been implemented on the SCANeRTMDriving Simulator available at IRCCyN, whose steering column is electrically powered. A methodology for choosing the weighting matrices in the quadratic index and the preview time are finally proposed. The obtained experimental results are discussed as well.

Keywords

Lateral Acceleration Driving Simulator Feedforward Controller Road Curvature Preview Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2012

Authors and Affiliations

  • Louay Saleh
    • 1
  • Philippe Chevrel
    • 1
  • Jean-François Lafay
    • 1
  1. 1.IRCCyN, Institut de Recherche en Communications et Cyberntique de Nantes, UMR CNRS 6597Ecole Centrale de NantesNantesFrance

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