Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems

منو

" Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems "
Tai, M.; Wang, J.-y.; Hingwe, P.; Chen, C.; Tomizuka, M.

Document Type	:	AL
Record Number	:	909679
Doc. No	:	LA3sb3z2mh
Title & Author	:	Lateral Control Of Heavy Duty Vehicles For Automated Highway Systems [Article]\ Tai, M.; Wang, J.-y.; Hingwe, P.; Chen, C.; Tomizuka, M.
Date	:	1998
Title of Periodical	:	UC Berkeley
Abstract	:	This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design. Modeling of multi-unit articulated vehicles is also presented. Both a complex simulation model and a simplified control design model are derived for a general road train.