Research on Path Tracking Control for Vision Based Intelligent Vehicle

Abstract:

Article Preview

This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

Info:

Periodical:

Edited by:

Helen Zhang and David Jin

Pages:

305-308

DOI:

10.4028/www.scientific.net/AMM.63-64.305

Citation:

S. M. Cui et al., "Research on Path Tracking Control for Vision Based Intelligent Vehicle", Applied Mechanics and Materials, Vols. 63-64, pp. 305-308, 2011

Online since:

June 2011

Export:

Price:

$35.00

In order to see related information, you need to Login.

In order to see related information, you need to Login.