Lateral displacement sensor placement and forward velocity effects on stability of lateral control of vehicles

Andrew Alleyne; Mark DePoorter

doi:10.1109/acc.1997.610852

Lateral displacement sensor placement and forward velocity effects on stability of lateral control of vehicles

Andrew Alleyne, Mark DePoorter

Research output: Contribution to journal › Conference article › peer-review

Abstract

This paper presents both a simulation and experimental look at lateral vehicle dynamics for automatic steering control. Simulation work shown is based upon the well known `bicycle model'. Experimental work is completed on a small-scale vehicle run on the Illinois Roadway Simulator (IRS). Frequency and time domain methods are used to model the vehicle for various sensor locations and forward speeds. The resulting model is a polynomial transfer function from front steer angle input to lateral displacement output. The trends of the bicycle model appear in the experimental vehicle both in pole and zero mapping. In addition, the steering actuator of the vehicle is shown to be a significant factor for model reference and PI based control design.

Original language	English (US)
Pages (from-to)	1593-1597
Number of pages	5
Journal	Proceedings of the American Control Conference
Volume	3
DOIs	https://doi.org/10.1109/acc.1997.610852
State	Published - 1997
Event	Proceedings of the 1997 American Control Conference. Part 3 (of 6) - Albuquerque, NM, USA Duration: Jun 4 1997 → Jun 6 1997

ASJC Scopus subject areas

Electrical and Electronic Engineering

Online availability

10.1109/acc.1997.610852

Library availability

Discover UIUC Full Text

Cite this

@article{d56d667ac308461790b90a8368cf9f1e,

title = "Lateral displacement sensor placement and forward velocity effects on stability of lateral control of vehicles",

abstract = "This paper presents both a simulation and experimental look at lateral vehicle dynamics for automatic steering control. Simulation work shown is based upon the well known `bicycle model'. Experimental work is completed on a small-scale vehicle run on the Illinois Roadway Simulator (IRS). Frequency and time domain methods are used to model the vehicle for various sensor locations and forward speeds. The resulting model is a polynomial transfer function from front steer angle input to lateral displacement output. The trends of the bicycle model appear in the experimental vehicle both in pole and zero mapping. In addition, the steering actuator of the vehicle is shown to be a significant factor for model reference and PI based control design.",

author = "Andrew Alleyne and Mark DePoorter",

year = "1997",

doi = "10.1109/acc.1997.610852",

language = "English (US)",

volume = "3",

pages = "1593--1597",

journal = "Proceedings of the American Control Conference",

issn = "0743-1619",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "Proceedings of the 1997 American Control Conference. Part 3 (of 6) ; Conference date: 04-06-1997 Through 06-06-1997",

}

TY - JOUR

T1 - Lateral displacement sensor placement and forward velocity effects on stability of lateral control of vehicles

AU - Alleyne, Andrew

AU - DePoorter, Mark

PY - 1997

Y1 - 1997

N2 - This paper presents both a simulation and experimental look at lateral vehicle dynamics for automatic steering control. Simulation work shown is based upon the well known `bicycle model'. Experimental work is completed on a small-scale vehicle run on the Illinois Roadway Simulator (IRS). Frequency and time domain methods are used to model the vehicle for various sensor locations and forward speeds. The resulting model is a polynomial transfer function from front steer angle input to lateral displacement output. The trends of the bicycle model appear in the experimental vehicle both in pole and zero mapping. In addition, the steering actuator of the vehicle is shown to be a significant factor for model reference and PI based control design.

AB - This paper presents both a simulation and experimental look at lateral vehicle dynamics for automatic steering control. Simulation work shown is based upon the well known `bicycle model'. Experimental work is completed on a small-scale vehicle run on the Illinois Roadway Simulator (IRS). Frequency and time domain methods are used to model the vehicle for various sensor locations and forward speeds. The resulting model is a polynomial transfer function from front steer angle input to lateral displacement output. The trends of the bicycle model appear in the experimental vehicle both in pole and zero mapping. In addition, the steering actuator of the vehicle is shown to be a significant factor for model reference and PI based control design.

UR - http://www.scopus.com/inward/record.url?scp=0030684177&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030684177&partnerID=8YFLogxK

U2 - 10.1109/acc.1997.610852

DO - 10.1109/acc.1997.610852

M3 - Conference article

AN - SCOPUS:0030684177

SN - 0743-1619

VL - 3

SP - 1593

EP - 1597

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

T2 - Proceedings of the 1997 American Control Conference. Part 3 (of 6)

Y2 - 4 June 1997 through 6 June 1997

ER -

Lateral displacement sensor placement and forward velocity effects on stability of lateral control of vehicles

Abstract

ASJC Scopus subject areas

Online availability

Library availability

Related links

Fingerprint

Cite this