Towards a generic lateral control concept for cooperative automated driving : theoretical and experimental evaluation
conference paper
Lateral vehicle control is an essential part for many automated and cooperative driving applications. Lane keeping and vehicle following are typical modes of such control system. The aim of this paper is to develop a generic lateral controller that can handle these different modes. Based on the available measurements, either path or single point preview information is used in the feedback loop of the controller, while controller parameters and adaptive gains are unaffected. The paper contains theoretical analysis and discusses the results of simulations and vehicle experiments.
TNO Identifier
780459
ISBN
978-1-5090-6484-7
Source title
Proceedings of the 2017 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)
Pages
134-139
Files
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