Browsing by Author "Tan, HS"

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Lane changing with look-down reference systems on automated highways
(2000-09-01)
Tan, HS
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Guldner, J
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Chen, C
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Patwardhan, S
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Bougler, B
Automated lane changing is a vital component of the steering control system for automated vehicles. The most important requirements of such maneuvers are smoothness and robustness. Look-down sensing systems face the challenge of having to bridge the gap whenever reference lines of the respective lanes are not measurable. This paper discusses two methods that were successfully employed in the platoon scenario of the 1997 National Automated Highway Systems Consortium Feasibility Demonstration in San Diego, USA: infrastructure-guided lane changes using an additional cross-over marker reference, and free lane changes using a yaw rate sensor for dead reckoning. Both systems achieved good passenger comfort and exhibited high reliability. Similar techniques were applied to the entrance and exit ramps of the automated highways. (C) 2000 Elsevier Science Ltd. All rights reserved.
Steering control of high speed vehicles: Dynamic look ahead and yaw rate feedback
(1998)
Chen, C
;
Tan, HS
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機械工程學系
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Department of Mechanical Engineering
A popular automatic steering control approach for passenger cars is to decouple the yaw motion from lateral motion by using yaw rate feedback. It will be shown in this paper that by re-defining the control position at a frequency-dependent distance ahead of the vehicle, the yaw dynamics can also be decoupled. The resulting system dynamics with this dynamic look-ahead scheme can be simplified into a double-integrator vehicle dynamics with a constant open-loop gain. It is further shown in this paper that even though the simplified system dynamics obtained from the dynamic look ahead scheme appears similar to that from the decoupling approach using yaw rate feedback, the hidden (unobservable) dynamics of the closed control loop is fundamentally different.