Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Introduction to Intelligent Vehicles Read chapter Read first chapter

2012 | OriginalPaper | Chapter

Vehicle Lateral and Steering Control

Authors : Dr. Damoon Soudbakhsh, Prof. Azim Eskandarian, D.Sc.

Published in: Handbook of Intelligent Vehicles

Publisher: Springer London

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Run-off-road crashes are responsible for about 34% of road fatalities. In addition, side swiping crashes are also caused by either unintended or ill-timed lane departures. Many systems have been developed to reduce these kinds of accidents. Vehicle lateral control and warning systems are introduced for this reason. Vehicle lateral control systems can help the drivers to change their lanes safely or assist them in parking or even performing evasive maneuvers. This chapter aims to serve as an introduction to dynamics, control, and modeling of vehicle lateral motion in the context of intelligent vehicles. First, the major components that determine lateral dynamics of the vehicle are briefly described. Then, the basics of tire dynamics and vehicle modeling are presented. Many different linear and nonlinear controllers have been suggested in the literature to control the combined lateral and longitudinal motion of the vehicle. It is expected that in the future vehicle lateral control will be extended to performing lane change or evasive maneuvers. A brief review of the control methods and some of the experimental implementations of autonomous trajectory following (lane change maneuvers) are presented. A few examples of their commercial productions are provided. Finally, some concluding remarks about the future of vehicle lateral control and the current state of the development in this area are given.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
previous chapter Adaptive and Cooperative Cruise Control
next chapter Drive-By-Wire
Literature
Ackermann J (1994) Robust decoupling of car steering dynamics with arbitrary mass distribution. In: Proceedings of the American control conference, 1994, vol 2, pp 1964–1968, 29 June–1 July 1994
Ackermann J, Guldner J, Sienel W, Steinhauser R, Utkin VI (1995) Linear and nonlinear controller design for robust automatic steering. Control Syst Technol, IEEE Trans 3(1):132–143CrossRef
Akar M, Kalkkuhl JC (2008) Lateral dynamics emulation via a four-wheel steering vehicle. Veh Syst Dyn: Int J Veh Mech and Mobil 46(9):803–829CrossRef
Alleyne A (1997) A comparison of alternative obstacle avoidance strategies for vehicle control. Vehicle Syst Dyn: Int J Vehicle Mech and Mobil 27(5):371–392CrossRef
Alvarez L, Yi J, Horowitz R, Olmos L (2005) Dynamic friction model-based tire-road friction estimation and emergency braking control. J Dyn Syst, Meas, Control 127(1):22–32CrossRef
Anderson S, Peters S, Pilutti T, Iagnemma K (2010) An optimal-control-based framework for trajectory planning, threat assessment, and semi-autonomous control of passenger vehicles in hazard avoidance scenarios. Int J Veh Auton Syst 8(2):190–216CrossRef
Andreas E, Jochen P, Fredrik G, Jonas E (2007) Toward autonomous collision avoidance by steering. IEEE Trans Intell Transp Syst 8(1):84–94CrossRef
Bogenrieder R, Fehring M, Bachmann R (2009) Pre-Safe® in rear-end collision situations. In: Proceedings of the 21st international technical conference on the enhanced safety of vehicles. National Highway Traffic Safety Administration, Stuttgart, Germany.
Chan C, Tan H (2001) Feasibility analysis of steering control as a driver-assistance function in collision situations. IEEE Trans Intell Transp Syst 2(1):1–9MathSciNetCrossRef
Chee W (1997) Unified lateral motion control of vehicles for lane change maneuvers in automated highway systems. University of California at Berkeley
Chee W, Tomizuka M (1994) Vehicle lane change maneuver in automated highway systems. California PATH research report, UCB-ITS-PRR-94-22
Chen C, Tan H-S (1998) Steering control of high speed vehicles: dynamic look ahead and yaw rate feedback. In: Decision and control, 1998. Proceedings of the 37th IEEE conference on, vol 1, pp 1025–1030
Dugoff H, Fancher PS, Segel L (1970) An Analysis of Tire Traction Properties and Their Influence on Vehicle Dynamic Performance
Edwards C, Hebden R, Spurgeon S (2005) Sliding mode observers for vehicle mode detection. Veh Syst Dyn 43(11):823–843CrossRef
Falcone P, Borrelli F, Asgari J, Tseng HE, Hrovat D(2007) Predictive active steering control for autonomous vehicle systems. IEEE Trans Control Syst Technol 15(3):566–580CrossRef
Funabiki S, Mino M (1994) Neural-network steering control of an automated guided vehicle. Electr Eng Japan 114(7):135–143CrossRef
Furusho H, Mouri H (1999) Research on automated lane tracking using linear quadratic control:-control procedure for a curved path. JSAE Rev 20(3):325–329CrossRef
Gillespie TD (1992) Fundamentals of vehicle dynamics. Society of Automotive Engineers, Warrendale
Guldner J, Utkin VI, Ackermann J (1994) A sliding mode control approach to automatic car steering. In: Proceedings of the American control conference, 1994, vol 2, pp 1969–1973, 29 June–1 July 1994
Guldner J, Sienel W, Han-Shue T, Ackermann J, Patwardhan S, Bunte T (1999) Robust automatic steering control for look-down reference systems with front and rear sensors. IEEE Trans Control Syst Technol 7(1):2–11CrossRef
Guvenc BA, Guvenc L (2002) Robust two degree-of-freedom add-on controller design for automatic steering. IEEE Trans Control Syst Technol 10(1):137–148CrossRef
Hedrick JK, Tomizuka M, Varaiya P (1994) Control issues in automated highway systems. Control Syst Mag, IEEE 14(6):21–32CrossRef
Hessburg T, Tomizuka M (1994) Fuzzy logic control for lateral vehicle guidance. Control Systems Mag, IEEE 14(4):55–63CrossRef
Hiraoka T, Nishihara O, Kumamoto H (2009) Automatic path-tracking controller of a four-wheel steering vehicle. Veh Syst Dyn 47(10):1205–1227CrossRef
Ishida S, Gayko JE (2004) Development, evaluation and introduction of a lane keeping assistance system. In: Proceedings of the intelligent vehicles symposium, 2004 IEEE, pp 943–944, 14–17 June 2004
Kawazoe H, Murakami T, Sadano O, Suda K, Ono H (2001) Nissan Motor Co., Ltd Development of a Lane-Keeping Support System, SAE 2001 World Congress, March 2001, Detroit, MI, USA, Paper Number: 2001-01-0797
Kehtarnavaz N, Sohn W (1991) Steering control of autonomous vehicles by neural networks. In: Proceedings of the American control conference, 1991, pp 3096–3101, 26–28 June 1991
Keviczky T, Falcone P, Borrelli F, Asgari J, Hrovat D (2006) Predictive control approach to autonomous vehicle steering. In: Proceedings of the American control conference, 2006, 6 pp, 14–16 June 2006
Kuwata Y, Karaman S, Teo J, Frazzoli E, How JP, Fiore G (2009) Real-time motion planning with applications to autonomous urban driving. IEEE Trans Control Syst Technol 17(5):1105–1118CrossRef
Lee A (1995) Performance of four-wheel-steering vehicles in lane change maneuvers. SAE World Congress, Detroit, MI, USA pp 161
Lee J, Yoo W (2009) An improved model-based predictive control of vehicle trajectory by using nonlinear function. J Mech Sci Technol 23(4):918–922CrossRef
Leonard J, How J, Teller S, Berger M, Campbell S, Fiore G, Fletcher L, Frazzoli E, Huang A, Karaman S, Koch O, Kuwata Y, Moore D, Olson E, Peters S, Teo J, Truax R, Walter M, Barrett D, Epstein A, Maheloni K, Moyer K, Jones T, Buckley R, Antone M, Galejs R, Krishnamurthy S, Williams J (2009) A Perception-Driven Autonomous Urban Vehicle. In: Buehler M, Iagnemma K, Singh S (eds) The DARPA urban challenge. Springer, Berlin/Heidelberg, pp 163–230CrossRef
Maeda T, Irie N, Hidaka K, Nishimura H (1977) Performance of driver-vehicle system in emergency avoidance. SAE World Congress, Detroit, MI, USA, pp 518
Milliken WF, Milliken DL (1995) Race car vehicle dynamics. SAE International, Warrendale
Montiglio M, Martini S, Murdocco V (2006) Development of a lane keeping support system for heavy-trucks. London, United Kingdom
Mouri H, Furusho H (1997) Automatic path tracking using linear quadratic control theory. In: Proceedings of the intelligent transportation system. ITSC 1997, IEEE conference on, pp 948–953, 9–12 Nov 1997
Nagai M, Ueda E, Moran A (1995) Nonlinear design approach to four-wheel-steering systems using neural networks. Veh Syst Dyn 24(4):329–342CrossRef
Nagai M, Onda M, Katagiri T (1997) Simulation of emergency obstacle avoidance situations using genetic algorithm. JSAE Rev 18(2):158–160CrossRef
Nagai M, Mouri H, Raksincharoensak P (2002) Vehicle lane-tracking control with steering torque input. Veh Syst Dyn 37:267–278
Naranjo JE, Gonzalez C, Garcia R, de Pedro T (2008) Lane-change fuzzy control in autonomous vehicles for the overtaking Maneuver. IEEE Trans Intell Transp Syst 9(3):438–450CrossRef
Nelson W (1989) Continuous-curvature paths for autonomous vehicles. In: Robotics and automation, 1989. Proceedings, IEEE international conference on, vol 3, pp 1260–1264, 14–19 May 1989
NHTSA federal motor vehicle safety standards; electronic stability control systems (FMVSS 126), 49 CFR, parts 571 & 585
Pacejka HB (2006) Tyre and vehicle dynamics, 2nd edn. Butterworth-Heinemann, Oxford
Pacejka H, Bakker E (1992) The magic formula tyre model. Veh Syst Dyn 21:1–18CrossRef
Peng H, Tomizuka M (1990) Lateral control of front-wheel-steering rubber-tire vehicles. California PATH
Pohl J, Ekmark J (2003) Development of a haptic intervention system for unintended lane departure. SAE World Congress, Detroit, MI, USA
Qin SJ, Badgwell TA (2003) A survey of industrial model predictive control technology. Control Eng Pract 11(7):733–764CrossRef
Rajamani R (2006) Vehicle dynamics and control. Springer, New YorkMATH
Schorn M, Stahlin U, Khanafer A, Isermann R (2006) Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle. In: Proceedings of the American control conference, 2006, 6 pp, 14–16 June 2006
Shin M, Bae S, Lee J, Lee J, Heo S, Tak T (2003) New vehicle dynamics model for Yaw rate estimation. Veh Syst Dyn 37:96–106
Sledge N, Marshek K (1997) Comparison of ideal vehicle lane-change trajectories. SAE Trans 106(6):2004–2027
Soudbakhsh D, Eskandarian A (2010) A collision avoidance steering controller using linear quadratic regulator. In: Proceedings of the SAE 2010, World congress & exhibition, April 2010, Detroit, paper no: 2010-01-0459
Soudbakhsh D, Eskandarian A (2011) Comparison of linear and non-linear controllers for active steering of vehicles in evasive manoeuvres. In: Proceedings of the institution of mechanical engineers, part I: Journal of Systems and Control Engineering, August 26, 2011, 0959651811414503, first published on August 26, 2011 (In press)
Soudbakhsh D, Eskandarian A, Chichka D (2010) Vehicle evasive maneuver trajectory optimization using collocation technique. In: Proceedings of the ASME dynamic systems and control (DSC) 2010 conference, Cambridge, MA, 13–15 Sept 2010
Talvala KLR, Kritayakirana K, Gerdes JC (2011) Pushing the limits: from lanekeeping to autonomous racing. Annu Rev Control 35(1):137–148CrossRef
Tideman M, van der Voort MC, van Arem B, Tillema F (2007) A review of lateral driver support systems. In: Proceedings of the intelligent transportation systems conference, ITSC 2007. IEEE, pp 992–999, 30 Sept–03 Oct 2007
Tseng HE, Ashrafi B, Madau D, Allen Brown T, Recker D (1999) The development of vehicle stability control at Ford. IEEE/ASME Trans Mechatron 4(3):223–234CrossRef
Urmson C, Anhalt J, Bagnell D, Baker CR, Bittner R, Clark MN, Dolan JM, Duggins D, Galatali T, Geyer C, Gittleman M, Harbaugh S, Hebert M, Howard TM, Kolski S, Kelly A, Likhachev M, McNaughton M, Miller N, Peterson K, Pilnick B, Rajkumar R, Rybski PE, Salesky B, Seo Y, Singh S, Snider J, Stentz A, Whittaker W, Wolkowicki Z, Ziglar J, Bae H, Brown T, Demitrish D, Litkouhi B, Nickolaou J, Sadekar V, Zhang W, Struble J, Taylor M, Darms M, Ferguson D (2008) Autonomous driving in urban environments: Boss and the urban challenge. J Field Robot 25(8):425–466CrossRef
Yih P, Gerdes JC (2005) Modification of vehicle handling characteristics via steer-by-wire. IEEE Trans Control Syst Technol 13(6):965–976CrossRef
Yoo H, Hunter D, Green P (1996) Automotive collision warning effectiveness: a simulator comparison of text vs. icons. UMTRI, Ann Arbor
Metadata
Title
Vehicle Lateral and Steering Control
Authors
Dr. Damoon Soudbakhsh
Prof. Azim Eskandarian, D.Sc.
Copyright Year
2012
Publisher
Springer London
Book
Handbook of Intelligent Vehicles

Print ISBN: 978-0-85729-084-7

Electronic ISBN: 978-0-85729-085-4

Copyright Year: 2012

DOI
https://doi.org/10.1007/978-0-85729-085-4_10

Premium Partner

    Image Credits