Magnetic-Marker-Based Lane Keeping: A Robustness Experimental Study

Paper #:
  • 930556

Published:
  • 1993-03-01
Citation:
Peng, H., Zhang, W., Shladover, S., Tamizuka, M. et al., "Magnetic-Marker-Based Lane Keeping: A Robustness Experimental Study," SAE Technical Paper 930556, 1993, https://doi.org/10.4271/930556.
Pages:
8
Abstract:
Experimental results on an automatic lane keeping control study are presented in this paper. A magnetic reference system was used to provide the vehicle lateral tracking error as well as future road curvature information and vehicle speed measurement to the vehicle steering controller. The front wheels of the vehicle are steered according to vehicle lateral displacement, future road curvature, vehicle yaw rate and lateral acceleration, and vehicle speed. The control algorithm used to design the feedback and feedforward controllers is known as the Frequency-Shaped-Linear-Quadratic Preview (FSLQ-preview) optimal control design method. The closed loop response of the vehicle was examined under a wide variety of test conditions, including low tire pressure, measurement noise, perturbed reference system, hard braking, and snowy road.
Access
Now
SAE MOBILUS Subscriber? You may already have access.
Buy
Select
Price
List
Download
$27.00
Mail
$27.00
Members save up to 40% off list price.
Share
HTML for Linking to Page
Page URL

Related Items

Technical Paper / Journal Article
2010-10-19
Training / Education
2010-03-15
Training / Education
2018-02-26
Technical Paper / Journal Article
2010-10-19
Training / Education
2018-03-12
Technical Paper / Journal Article
2010-10-25