» Download Article

Authors
Cerone, Vito; Milanese, Mario; Regruto, Diego

Identifier
10.3182/20070820-3-US-2918.00023

Index Terms
vehicle lateral control,automatic lane keeping,driver's steering

Abstract
In this paper we address the problem of combining automatic lane keeping and driver's steering for either obstacle avoidance or lane change maneuvers for passing purpose or any other desired maneuvers, through a closed loop control strategy. The automatic lane keeping control loop is never opened, and no on/off switching strategy is used. During the driver's maneuver, the vehicle lateral dynamics is controlled by the driver himself through the vehicle steering system. When there is no driver's steering action, the vehicle center of gravity tracks the center of the travelling lane thanks to the automatic lane keeping system. At the beginning (end) of the maneuver, the lane keeping task is released (resumed) safely and smoothly. The performance of the proposed closed loop structure is shown by means of simulations and through experimental results obtained along italian highways.

References

[1] Ackermann, J. J. Guldner, W. Sienel, R. Steinhauser
    and V.I. Utkin (1995). Linear and nonlinear
    controller design for robust automated steering.
    IEEE Transaction on Control Systems Technology
     3(1), 132-143.
[2] Broggi, A. M. Bertolozzi, A. Fascioli, C. Guarino
     Lo Bianco and A. Piazzi (1999). The argo autonomous
     vehicle's vision and control systems.
    International Journal of Intelligent Control and
    Systems 3(4), 409-441.
[3] Cerone, V. A. Chinu and D. Regruto (2002). Experimental
     results in vision-based lane keeping for
    highway vehicles. In: Proc. American Control
    Conference.
[4] Cerone, V. and D. Regruto (2003a). Robust performance
     controller design for vehicle lane keeping.
    In: Proc. European Control Conference.
[5] Cerone, V. and D. Regruto (2003b). Vehicle lateral
    controller design exploiting properties of sito systems.
     In: Proc. American Control Conference.
[6] Fenton, R.E. and I. Selim (1988). On the optimal
    design of an automotive lateral controller. IEEE
    Transaction on Vehicular Technology 37(2), 108-
    113.
[7] Fenton, R.E. and R.J. Mayhan (1991). Automated
    highway studies at the ohio state university - an
    overview. IEEE Transaction on Vehicular Technology
     40(1), 100-113.
[8] Guldner, J. W. Sienel, J. Ackermann, S. Patwardhan
     and T. Bünte (1999). Robust automatic steering
     control for look-down reference systems with
    front and rear sensors. IEEE Transaction on Control
     Systems Technology 7(1), 2-11.
[9] Hatipo&gcaron;lu, C. K. Redmill and Ü. Özgüner (1997). Automatic
     steering control of vehicle lateral motion
    with effect of roll dynamics. In: Proc. of IEEE
    Intelligent Transportation Systems Conference.
[10] Hatipo&gcaron;lu, C. Ü. Özgüner and K. Redmill (2003).
     Automated lane change controller design. IEEE
     Transaction on Intelligent Transportation Systems
      4(1), 13-22.
[11] Hatipo&gcaron;lu, C. Ü. Özgüner and K.A. Ünyelio&gcaron;lu
     (1995). On optimal design of lane change controller.
      In: Proc. of IEEE Intelligent Vehicles Symposium
     .
[12] Hingwe, P. and M. Tomizuka (1998). Variable lookahead
      controller for lateral guidance of four
     wheeled vehicles. In: Proc. IEEE America Control
      Conference.
[13] Kosecá, J. R. Blasi, J. Taylor and J. Malik (1998).
     A comparatative study of vision-based lateral
     control strategies for autonomos highway driving.
      In: Proc. IEEE International Conference on
     Robotics & Automation.
[14] Patwardhan, S. H.S. Tan and J. Guldner (1997). A
     general framework for automatic steering control:
      System analysis. In: Proc. American Control
     Conference.
[15] Shladover, S.E. C.A. Desoer, K. Hedrik, M.
     Tomizuka, J. Walrand, W.B. Zhang, D.H. McMahon,
      H. Peng, S. Sheikholeslam and N. McKeown
      (1991). Automated vehicle control developements
      in the path program. IEEE Transaction
     on Vehicular Technology 40(1), 114-130.
[16] Tanaka, J. S. Ishida, H. Kawagoe and S. Kondo
     (2000). Workload of using a driver assistance system.
      In: Proc. of IEEE Intelligent Transportation
     Systems Conference. pp. 382-386.
[17] Tomizuka, M. M. Tai, J-Y. Wang and P. Hingwe
     (1999). Automated lane guidance of commercial
     vehicles. In: Proc. of IEEE International Conference
      on Control Applications.
[18] Tsugawa, S. (1994). Vision-based vehicles in japan:
     Machine vision systems and driving control systems.
      IEEE Transaction on Industrial Electronic
     41(4), 398-405.
[19] Wang, J.Y. and M. Tomizuka (1999). Robust h∞ lateral
      control of heavy-duty vehicles in automated
     higway system. In: Proc. American Control Conference
     .