This report presents two performance enhancement lateral control designs for single unit heavy vehicles. It is shown that robust performance can be achieved using the techniques on a feedback linearized system.

This report presents a linear analysis of a tractor semitrailer model. The analysis is followed by the design of a simple linear controller for lane following. Offtracking analysis is presented for a single unit vehicle and tractor semitrailer. This analysis is independent of the control design....

The project "Lateral Control of Heavy Duty Vehicles for Automated Highway Systems" (MOU 313) represents continuation of the heavy vehicle research in PATH which was initiated in 1993 with MOU 129, "Steering and Braking Control of Heavy Duty Vehicles" and was followed with MOU 242, "Steering and...

This report continues work on the design of a health monitoring system for automated vehicles. The approach is designed to fuse data from dissimilar instruments using modeled dynamic relationships and fault detection and identification filters. Issues relating to sensor models, output...