IDEAS home Printed from https://ideas.repec.org/p/cdl/itsrrp/qt7bh3f4gf.html
   My bibliography  Save this paper

Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System

Author

Listed:
  • Tomizuka, Masayoshi
  • Hedrick, J. Karl
  • Pham, Hung

Abstract

In this report, a combined longitudinal and lateral eighteen-state vehicle chassis, engine, and drive train model is developed and validated against existing longitudinal-only and lateral-only vehicle models. The full-size model is simplified to a three-state model to facilitate controller design. The control task in a combined maneuver is defined as the simultaneous regulation of the vehicle's longitudinal and lateral spacings through the application of throttle and steering. Two forms of a Sliding control law are derived based on the reduced order model. One version is decoupled in the longitudinal and lateral dynamics and forces, while the other retains the coupling terms. Nominal stability of the controllers is shown.

Suggested Citation

  • Tomizuka, Masayoshi & Hedrick, J. Karl & Pham, Hung, 1995. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7bh3f4gf, Institute of Transportation Studies, UC Berkeley.
    • Handle: RePEc:cdl:itsrrp:qt7bh3f4gf
    as

    Download full text from publisher

    File URL: https://www.escholarship.org/uc/item/7bh3f4gf.pdf;origin=repeccitec
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Tongue, Benson & Moon, Ahrie & Harriman, Doug, 1996. "Low Speed Collision Dynamics: Second Year Report," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7kx3j3xp, Institute of Transportation Studies, UC Berkeley.
    2. Forbes, Jeffrey & Et. al.,, 1997. "Feasibility Study Of Fully Autonomous Vehicles Using Decision-theoretic Control," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt4nz42165, Institute of Transportation Studies, UC Berkeley.
    3. Pham, Hung & Tomizuka, Masayoshi & Hedrick, J. Karl, 1997. "Integrated Maneuvering Control For Automated Highway Systems Based On A Magnetic Reference/sensing System," Institute of Transportation Studies, Research Reports, Working Papers, Proceedings qt7hk255bn, Institute of Transportation Studies, UC Berkeley.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:cdl:itsrrp:qt7bh3f4gf. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Lisa Schiff (email available below). General contact details of provider: https://edirc.repec.org/data/itucbus.html .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.