This paper investigates the feasibility of a fuzzy logic control (FLC) algorithm for lateral control in a lane change maneuver in an automated highway system (AHS). The lane change maneuver takes the vehicle from lane following control in one lane to lane following control in an adjacent lane. A...

This report presents the research results of Task Order 4204(TO4204), "Vehicle Lateral Control under Fault in Front and/or Rear Sensors". This project is a continuing effort of the Partners for Advanced Transit and Highways (PATH) on the research of passenger vehicles for Automated Highway...

In this paper, two models were developed to describe the lateral dynamics of a vehicle for different purposes. The lateral feedback and feedforward controllers are designed to satisfy the above objective based on a linearized model, which includes only the lateral and yaw motions. The...

This report documents the research results of Task Order 4205 (TO4205), Fault Tolerant Lateral Control for Transient Buses and Trucks performed during 2000-2003. In this task order, we studied the procedures for designing real-time lateral control systems for automated vehicles that are not...

In this report, a formulation is made for a model reference adaptive fuzzy logic control (MRAFLC) algorithm and applied to automatic steering control of a vehicle. The purpose of the research is to design a fuzzy logic controller such that changes in operating conditions are addressed in the...

A Fuzzy logic controller (FLC) is designed and implemented in real time on a Toyota Celica test vehicle to achieve control of the lateral motion of the vehicle. The structure of the FLC is modularized as a feedback, preview, and gain scheduling rule base. The parameters of the FLC are tuned...

This report presents two approaches to the design of the lateral controllers for commuter buses based on Sliding Mode Control (SMC). The objective of the control is to track the lane centerline. The first controller uses the sensor output which is a combination of yaw and lateral error. The...

Addresses issues regarding the implementation of an integration of several specific technologies involved in achieving lateral guidance of an experimental automotive vehicle on an automated highway. Results demonstrate the feasibility of the proposed discrete magnetic marker reference/sensing...

This is the final report for MOU 313, "Lateral Control of Heavy Vehicles for Automated Highway Systems". It address the following task items: Analysis and synthesis of control algorithms based on system identification and calibration results (Task 4. in the MPU), Closed loop results at highway...