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Trajectory tracking for highly automated passenger vehicles

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.
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https://hal.archives-ouvertes.fr/hal-00654087
Contributor : Frédéric Davesne <>
Submitted on : Tuesday, December 20, 2011 - 6:11:18 PM
Last modification on : Friday, July 17, 2020 - 5:08:30 PM

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Salim Hima, Benoit Lusetti, Benoît Vanholme, Sebastien Glaser, Said Mammar. Trajectory tracking for highly automated passenger vehicles. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Aug 2011, Milano, Italy. elec. proc., ⟨10.3182/20110828-6-IT-1002.03594⟩. ⟨hal-00654087⟩

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