Trajectory tracking for highly automated passenger vehicles

Salim Hima; Benoit Lusetti; Benoît Vanholme; Sebastien Glaser; Said Mammar

doi:10.3182/20110828-6-IT-1002.03594

Conference papers

Trajectory tracking for highly automated passenger vehicles

Salim Hima ¹ Benoit Lusetti ¹ Benoît Vanholme ¹ Sebastien Glaser ¹ Said Mammar ²

1 IFSTTAR/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs

2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

Abstract : In this paper, the design of the longitudinal and lateral controller for dynamic trajectory tracking is presented. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steering wheel and accelerations. A primary experimental implementation on the vehicle test prototype is presented.

Keywords : Trajectory tracking and path following Adaptive and robust control of automotive systems Intelligent transportation systems

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Conference papers

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https://hal.archives-ouvertes.fr/hal-00654087
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Submitted on : Tuesday, December 20, 2011 - 6:11:18 PM
Last modification on : Saturday, January 15, 2022 - 3:50:34 AM

Trajectory tracking for highly automated passenger vehicles

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