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TECHNICAL PAPERS

Coordinated Longitudinal and Lateral Motion Control of Vehicles for IVHS

[+] Author and Article Information
Hyeongcheol Lee, Masayoshi Tomizuka

Department of Mechanical Engineering, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 123(3), 535-543 (Mar 24, 1998) (9 pages) doi:10.1115/1.1386395 History: Received March 24, 1998
Copyright © 2001 by ASME
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References

Shladover,  S. , 1991, “Automatic Vehicle Control Developments in the PATH Program,” IEEE Trans. Veh. Technol., VT-40, No. 1, pp. 114–130.
McMahon, D., Narendran, V. K., Swaroop, D., Hedrick, J. K., Chang, K. S., and Devlin, P., 1992, “Longitudinal Vehicle Controllers for IVHS: Theory and Experiment,” Proceedings of the 1992 American Control Conference, Chicago. Miller, R. K., and Michel, A. N., 1982, Ordinary Differential Equations, Academic Press, New York.
Peng, H., Hessburg, T., Tomizuka, M., Zhang, W., Lin, Y., Devlin, P., Shladover, S. E., and Arai, A., 1992, “A Theoretical and Experimental Study on Vehicle Lateral Control,” Proceedings of the American Control Conference, Chicago.
Tomizuka, M., and Hedrick, J. K., 1993, “Automated Vehicle Control for IVHS Systems,” IFAC Conference, Sydney, Australia, pp. 109–112.
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Pham, H., Hedrick, J. K., and Tomizuka, M., 1994, “Combined Lateral and Longitudinal Control of Vehicles for IVHS,” Proceedings of the American Control Conference, Baltimore, MD, pp. 1205–1206.
Pham, H., 1996, “Combined Lateral and Longitudinal Control of Vehicles for the Automated Highway System,” Ph.D. dissertation, UC Berkeley.
Krstic, M., Kanellakopoulos, I., and Kokotovic, P. V., 1995, Nonlinear and Adaptive Control Design, Wiley, New York.
Lee, Hyeongcheol, 1997, “Robust Adaptive Control Using a Universal Approximator with Application to Vehicle Motion Control for IVHS,” Ph.D. dissertation, UC Berkeley.
Peng, H., 1992, “Vehicle Lateral Control for Highway Automation,” Ph.D. dissertation, University of California, Berkeley.
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Peng, H. and Tomizuka, M., 1990, Lateral Control of Front-Wheel-Steering Rubber-Tire Vehicles PATH Report, UCB-ITS-PRR-90-5, University of California at Berkeley.
Swaroop,  D., and Hedrick,  J. K., 1996, “String stability of interconnected systems,” IEEE Trans. Autom. Control, 41, pp. 349–357.
Guldner, J., Utkin, V., and Ackerman, J., 1994, “A Sliding Mode Control Approach to Automatic Car Steering,” Proceedings of American Controls Conference, Baltimore, MD, pp. 1969–1973.
Hingwe, P. and Tomizuka, M., 1995, “Two alternative approaches to the design of lateral controllers for commuter buses based on sliding mode control,” in Advanced Automotive Technologies presented at 1995 ASME International Mechanical Engineering Congress and Exposition, pp. 99–104.

Figures

Grahic Jump Location
Tire traction force model
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Vehicle-platooning and lane-following scheme
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Desired acceleration profile and road curvature
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Simulation results by proposed coordinated control
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Simulation results by non-coordinated control

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