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Backstepping based approach for the combined longitudinal-lateral vehicle control

Abstract : 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.
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https://hal.archives-ouvertes.fr/hal-00745417
Contributor : Frédéric Davesne <>
Submitted on : Thursday, October 25, 2012 - 2:45:53 PM
Last modification on : Tuesday, June 30, 2020 - 11:56:08 AM

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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⟩

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