Magnetic-Marker-Based Lane Keeping: A Robustness Experimental Study 930556
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.
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. Download Citation
Author(s):
Huei Peng, Weibin Zhang, Steven Shladover, Masayoshi Tamizuka, Alan Aral
Affiliated:
University of California-Berkeley
Pages: 8
Event:
International Congress & Exposition
ISSN:
0148-7191
e-ISSN:
2688-3627
Also in:
Automotive Display Systems and Ivhs-SP-0964, SAE 1993 Transactions: Journal of Passenger Cars-V102-6
Related Topics:
Optimization
Roads and highways
Yaw
Mathematical models
Vehicle acceleration
Wheels
Magnetic materials
Pressure
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