Zakaria, M. A. and Zamzuri, H. and Mazlan, S. A. (2016) Dynamic curvature steering control for autonomous vehicle: performance analysis. In: Joint Conference of 2nd International Manufacturing Engineering Conference, iMEC 2015 and 3rd Asia-Pacific Conference on Manufacturing Systems, APCOMS 2015, 12 - 14 Nov 2015, Kuala Lumpur, Malaysia.
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Abstract
This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Uncontrolled Keywords: | Automobile steering equipment, Benchmarking, Longitudinal control, Manufacture, Steering, Vehicles |
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Malaysia-Japan International Institute of Technology |
| ID Code: | 73368 |
| Deposited By: | Mohd Zulaihi Zainudin |
| Deposited On: | 20 Nov 2017 08:43 |
| Last Modified: | 20 Nov 2017 08:43 |
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