A path-following driver model with longitudinal and lateral control of vehicle's motion

Chatzikomis, CI; Spentzas, KN

dc.contributor.author	Chatzikomis, CI	en
dc.contributor.author	Spentzas, KN	en
dc.date.accessioned	2014-03-01T01:29:35Z
dc.date.available	2014-03-01T01:29:35Z
dc.date.issued	2009	en
dc.identifier.issn	0015-7899	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19323
dc.subject	Active Safety	en
dc.subject	Gain Scheduling	en
dc.subject	Path Following	en
dc.subject	System Evaluation	en
dc.subject.classification	Engineering, Multidisciplinary	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	STEERING CONTROL	en
dc.title	A path-following driver model with longitudinal and lateral control of vehicle's motion	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10010-009-0112-5	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10010-009-0112-5	en
heal.language	English	en
heal.publicationDate	2009	en
heal.abstract	The use of closed-loop driver models is important for accurate vehicle simulations and in active safety systems evaluation. In this paper we present a combined longitudinal-lateral controller that is regulating the steering angle and throttle/brake levels by previewing the path ahead of the vehicle. The lateral steering controller is using, as input, the heading and position deviation between the vehicle and the road. The controller is using fixed gains with a simple gain scheduling based on the vehicle's speed. The longitudinal speed controller is using the curvature of the path ahead of the vehicle to determine the appropriate velocity of the vehicle. The longitudinal-lateral controller is tested by driving a double-lane change (ISO 3888-2) and a lap around a racing track.	en
heal.publisher	SPRINGER HEIDELBERG	en
heal.journalName	FORSCHUNG IM INGENIEURWESEN-ENGINEERING RESEARCH	en
dc.identifier.doi	10.1007/s10010-009-0112-5	en
dc.identifier.isi	ISI:000272158700006	en
dc.identifier.volume	73	en
dc.identifier.issue	4	en
dc.identifier.spage	257	en
dc.identifier.epage	266	en