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Optimal Preview Control For Vehicle Lateral Guidance

Author

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  • Peng, Huei
  • Tomizuka, Masayoshi

Abstract

This report introduces an optimal preview control algorithm which utilizes preview information pertaining to road curvature as well as superelevation angle for vehicle lateral control purposes. The optimal control law consists of both feedback control action and feedforward preview control action. The feedforward preview control action significantly improves tracking performance while maintaining a small closed loop bandwidth so ride quality is not impaired. Frequency domain analyses and numerical simulation results show improvements obtained in both frequency domain and time domain

Suggested Citation

  • Peng, Huei & Tomizuka, Masayoshi, 1991. "Optimal Preview Control For Vehicle Lateral Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt3jj2q67v, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt3jj2q67v
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    File URL: https://www.escholarship.org/uc/item/3jj2q67v.pdf;origin=repeccitec
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    References listed on IDEAS

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    1. Peng, Huei & Tomizuka, Masayoshi, 1990. "Lateral Control Of Front-wheel-steering Rubber-tire Vehicles," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4t17m5nn, Institute of Transportation Studies, UC Berkeley.
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    Cited by:

    1. Hessburg, Thomas & Tomizuka, Masayoshi, 1994. "Advances in Fuzzy Logic Control for Lateral Vehicle Guidance," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt9648g94m, Institute of Transportation Studies, UC Berkeley.
    2. Chee, Wonshik & Tomizuka, Masayoshi, 1994. "Vehicle Lane Change Maneuver In Automated Highway Systems," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt29j5s3gk, Institute of Transportation Studies, UC Berkeley.

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    Keywords

    Automobiles--Automatic control;

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