Backstepping based approach for the combined longitudinal-lateral vehicle control

Lamri Nehaoua (1) , Lydie Nouveliere (1)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

This paper presents an integrated control method of a light road vehicle driving on a known and high secured itinerary at low speed. A planning module sends a safe and low energy reference trajectory to a control module that permits to manage the trajectory tracking under 50 km/h. A backstepping procedure is presented and formulated to realize a coupled longitudinal and lateral control in lane change or collision avoidance maneuvers.

Keywords: Backstepping procedure; Collision avoidance maneuver; Control module; Lane change; Lateral control; Low energies; Low speed; Road vehicles; Trajectory tracking; Vehicle Control

Lamri Nehaoua, Lydie Nouveliere. Backstepping based approach for the combined longitudinal-lateral vehicle control. IEEE Intelligent Vehicles Symposium (IV 2012), Jun 2012, Alcal de Henares, Madrid, Spain. pp.395--400, ⟨10.1109/IVS.2012.6232257⟩. ⟨hal-00745417⟩