Abstract
In the autonomous vehicle, the reference lane is continually detected by machine vision system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Lee, B. H.,et al, 2001, “Inverse Dynamic Analysis of Flexible Multibody Systems with Closed-Loops,”KSME Int. J., Vol. 15, No. 6, pp. 693–698.
Han, D. H.,et al, 2000, “Development and Comparative Study on Tire Models in AutoDyn7 Program,”KSME Int. J., Vol. 14, No. 7, pp. 730–736.
DADS (Dynamic Analysis of Design System)User’s Manual, Computer Aided Design Software Incorporated, Iowa, U. S. A.
Edward J. Haug, 1989,Computer-Aided Kinematics and Dynamics of Mechanical Dynamics: Basic Methods, Allyn and Bacon, Vol. 1.
Hannu Makela and Thomas von Numers, 2001, “Development of a Naviagation and Control System for an Autonomous Outdoor Vehicle in a Steel Plant,”Control Engineering Practice, No. 9, pp. 573–583.
Ackermann, J. and Darenberg, W., 1990, “Automatic Track Control of a City Bus,”IFAC Theory Report on Benchmark Problems for Control Systems Design.
Ackermann, J., Guldner, J. and Utkin, V. I., 1994, “A Robust Nonlinear Control Approach to Automatic Path Tracking of a Car,”International Conference on Control ’94, Vol. 1, pp. 196–201.
Ackermann, J., Guldner, J., Sienel, W., Steinhauser, R. and Utkin, V. I., 1995, “Linear and Nonlinear Controller Design for Robust Automatic Steering,”IEEE Transactions on Control Systems Technology, Vol. 3, No. 1, pp. 132–143.
Hedrick, J. K.,et al, 1994, “Control Issues in Automated Highway Systems,”IEEE Control Systems, Vol. 14, pp. 21–32.
Ackermann, J., 1997, “Robust Control Prevents Car Skidding,”IEEE Control Systems Magazine, Vol. 17, Issue. 3, pp. 23–31.
Han, K. B., Kim, H. Y. and Kim, C. W., 2001, “Corridor Navigation of the Mobile Robot Using Image Based Control,”KSME Int. J., Vol. 15, No. 8, pp. 1097–1107.
Yi, K. Lee, Sejin and Lee, Kyo-Il 2001, “Estimation of Vehicle Driving-Load with Application to Vehicle Intelligent Cruise Control,”KSME Int. J., Vol. 15, No. 6, pp. 720–726.
Yanagiva, M., Tomita, K. and Tsugawa, S., 1999, “Effects of Field of View on Lateral Control Performance in a Vision-Based Autonomous Vehicle,”JSAE Review 20, pp. 499–504.
Ohnuma, A., and Metz. L. D., 1989, “Controllability and Stability Aspects of Actively Controlled 4WS Vehicles,”SAE paper 891977.
Tsugawa, S., 1994, “Vision-Based Vehicles in Japan: Machine Vision Systems and Driving Control Systems,”IEEE Transactions on Industrial Electronics, Vol. 41, No. 4, pp. 398–405.
Tsugawa, S., 1999, “An Overview on Control Algorithms for Automated Highway Systems,”IEEE/IEEJ/JSAI International Conference. pp. 234–239.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Choi, J.Y., Hong, S.J., Park, K.T. et al. Lateral control of autonomous vehicle by yaw rate feedback. KSME International Journal 16, 338–343 (2002). https://doi.org/10.1007/BF03185231
Received:
Revised:
Issue Date:
DOI: https://doi.org/10.1007/BF03185231