­
­
­
­

Inventi Impact: Vehicular Technology

Articles

  • Inventi:evt/62/14
    ROBUST PID STEERING CONTROL IN PARAMETER SPACE FOR HIGHLY AUTOMATED DRIVING
    30-Jun-2014 Research 2014 : July - September
    Mumin Tolga Emirler, Esmail Meric Can Uygan, Bilin Aksun Guvenc, Levent Guvenc

    This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering\nin automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper.\nExperimental results are used to validate the longitudinal and lateral dynamic models of this vehicle.This paper is on automated\nsteering control and concentrates on the lateral direction of motion.The linear model is used to design a PID steering controller\nin parameter space that satisfies ??-stability.The PID steering controller that is designed is used in a simulation study to illustrate\nthe effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and\ndiscussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized\nsedan.

    How to Cite this Article
    CC Compliant Citation: M\nmin Tolga Emirler, smail Meriç Can\nUygan, Bilin Aksun G\nvenç, and Levent G\nvenç, â??Robust PID\nSteering Control in Parameter Space for Highly Automated\nDriving,â? International Journal of Vehicular Technology, vol.\n2014, Article ID 259465, 8 pages, 2014.\ndoi:10.1155/2014/259465.\nCopyright © 2014 Mümin Tolga Emirler et al. This article is distributed under the Creative Commons Attribution License (http://creativecommons.org/licenses/by/3.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
    Download Full Text