Lane keeping and lane departure avoidance by rear wheels steering

Enache, Nicoleta Minoiu; Guegan, Stephane; Desnoyer, Francois; Vorobieva, Hélène

doi:10.1109/ivs.2012.6232164

Cited by 7 publications

(4 citation statements)

References 9 publications

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“…The value of φ S is a function of R min (17), the parameters of the parking spot and the vehicle, and is not dependent on the vehicle starting position and orientation. The maximum value of the vehicle velocity during the first backward maneuver was chosen to be 3 m/s for each consecutive maneuver. Planar path of the vehicle and animation of the parking maneuver for two different initial conditions are shown in Fig.…”

Section: B Simulations For Parallel Parking In Multiple Maneuversmentioning

confidence: 99%

“…Nevertheless, stabilization to a small neighborhood of the origin (practical stabilization) [2], by using time-invariant feedback may be attractive for applications, such as the parking problem. While there has been significant amount of work on controlling the motion of the robot vehicles without bound of the control inputs, there has been much less works on vehicle motion control with input saturations [3,4]. However, in practice, significant issues arise due to limitations on the plant inputs, such as the front wheel steering angle limits, especially in the case of parking maneuvers.…”

Section: Introductionmentioning

confidence: 99%

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Saturated feedback control for an automated parallel parking assist system

Petrov

Nashashibi

2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

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This paper considers the parallel parking problem of automatic front-wheel steering vehicles. The problem of stabilizing the vehicle at desired position and orientation is seen as an extension of the tracking problem. A saturated control is proposed which achieves quick steering of the system near the desired position of the parking spot with desired orientation and can be successfully used in solving parking problems. In addition, in order to obtain larger area of the starting positions of the vehicle with respect to the parking spot for the first reverse maneuver of the parallel parking, an approach of using saturated control with two different levels of saturation is proposed. The vehicle can be automatically parked by using one or multiple maneuvers, depending on the size of the parking spot. Simulation results are presented to confirm the effectiveness of the proposed control schemes.

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Section: B Simulations For Parallel Parking In Multiple Maneuversmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Saturated feedback control for an automated parallel parking assist system

Petrov

Nashashibi

2014

2014 13th International Conference on Control Automation Robotics &Amp; Vision (ICARCV)

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“…With the equipment of ADAS, intelligent vehicles can easily realize lane keeping, adaptive cruise, and active lane change to reduce the driving burden of human drivers [25], in which pathtracking performance is reflected. With the linear matrix inequality optimization, an ARS system is able to provide lane departure avoidance and lane keeping [26]. Based on model predictive control (MPC), the differential braking control is combined with the ARS system to increase rollover prevention and path-tracking performance [27].…”

Section: Introductionmentioning

confidence: 99%

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Hang

Chen

2022

Machines

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To advance the active safety performance for vehicles, especially in extreme conditions, an active rear steering (ARS) control system is designed in this paper. A driver model is established to simulate the driving behaviour of a human driver who is in charge of the front steering control. In the ARS control system, the sliding mode predictive control (SMPC) approach is applied to the ARS controller design based on a 3 degrees of freedom (DoF) nonlinear vehicle model. In the ARS controller design, four kinds of active safety performances are considered, namely, path-tracking performance, handling performance, lateral stability, and rollover prevention. Furthermore, the priority of the four kinds of active safety performance is defined. According to the control priority, an event-triggered mechanism (ETM) is designed to adjust the SMPC controller of the ARS system to address different driving conditions. Finally, two simulation cases are conducted to evaluate the performance of the proposed ARS system. The results show that the ARS system is in favour of the active safety performance advancement for human drivers. Additionally, the comparative simulation indicates that the SMPC algorithm is superior to the fast terminal sliding mode control (FTSMC) algorithm.

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“…Several algorithms have been proposed to enhance the vehicle stability and maneuverability from the perspective of chassis control [11,32]. Similar to the approaches proposed to enhance the vehicle stability, RWS was adopted to improve the lane-keeping assistant system [33][34][35]. The application scope of 4WS was extended toward the path tracking control of the autonomous vehicle.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control-Based Integrated Path Tracking and Velocity Control for Autonomous Vehicle with Four-Wheel Independent Steering and Driving

Jeong

Yim

2021

Electronics

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This paper presents an MPC-based integrated control algorithm for an autonomous vehicle equipped with four-wheel independent steering and driving systems. The objective of this research is to improve the performance of the path and velocity tracking controllers by distributing the control effort to the multiple actuators. The proposed algorithm has two modules: reference state decision and MPC-based vehicle motion controller. Reference state decision module determines reference state profiles consisting of yaw rate and velocity in order to overcome the limitation of the error dynamics-based path tracking controller, which requires several assumptions on the reference path. The MPC-based vehicle motion controller is designed with a linear time-varying vehicle model in order to optimally allocate the control effort to each actuator. A linear time-varying MPC is adopted to reduce computational burden caused by using a non-linear one. The effectiveness of the proposed algorithm is validated via simulation on MATLAB/Simulink and CarSim. The simulation results show that the proposed algorithm improves the reference tracking performance by effectively distributing the control effort to the steering angle and driving force of each actuator.

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Lane keeping and lane departure avoidance by rear wheels steering

Cited by 7 publications

References 9 publications

Saturated feedback control for an automated parallel parking assist system

Saturated feedback control for an automated parallel parking assist system

Towards Active Safety Driving: Controller Design of an Active Rear Steering System for Intelligent Vehicles

Model Predictive Control-Based Integrated Path Tracking and Velocity Control for Autonomous Vehicle with Four-Wheel Independent Steering and Driving

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