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Optimal Preview Control For Vehicle Lateral Guidance

Huei Peng and Masayoshi Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: This report introduces an optimal preview control algorithm which utilizes preview information pertaining to road curvature as well as superelevation angle for vehicle lateral control purposes. The optimal control law consists of both feedback control action and feedforward preview control action. The feedforward preview control action significantly improves tracking performance while maintaining a small closed loop bandwidth so ride quality is not impaired. Frequency domain analyses and numerical simulation results show improvements obtained in both frequency domain and time domain

Keywords: Automobiles--Automatic; control (search for similar items in EconPapers)
Date: 1991-01-01
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