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| HAL : hal-00611950, version 1 |
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| ITSC 2011 - 14th International IEEE Conference on Intelligent Transportation Systems, Washington : États-Unis (2011) |
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| Algebraic nonlinear estimation and flatness-based lateral/longitudinal control for automotive vehicles |
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| Lghani Menhour 1Brigitte D'Andréa-Novel 1 |
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| (10/2011) |
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| A combined longitudinal and lateral vehicle control is presented. It employs flatness-based control and new algebraic estimation techniques for the numerical differentiation of noisy signals. This nonlinear control is designed for automatic path-tracking via vehicle steering angle and driving/braking wheel torque. It combines the control of the lateral and longitudinal movements in order to ensure an accurate tracking of straight or curved trajectories. It can also be used to perform a combined lane-keeping and steering control during critical driving situations such as obstacle avoidance, stop-and-go control, lane-change maneuvers or any other maneuvers. Promising results have been obtained using the noisy experimental data acquired by a laboratory vehicle under high dynamic loads and characterized by high lateral accelerations. |
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| 1 : | Centre de CAO et Robotique (CAOR) |
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Mines ParisTech |
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| 2 : | IMARA (INRIA Rocquencourt) |
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INRIA |
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| 3 : | Laboratoire d'informatique de l'école polytechnique (LIX) |
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CNRS : UMR7161 – Polytechnique - X |
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| 4 : | Laboratoire des signaux et systèmes (L2S) |
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UMR8506 CNRS – SUPELEC – Univ Paris-Sud |
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| Domaine | : | Informatique/Automatique Sciences de l'ingénieur/Automatique / Robotique Mathématiques/Optimisation et contrôle Informatique/Traitement du signal et de l'image Sciences de l'ingénieur/Traitement du signal et de l'image Sciences de l'environnement/Ingénierie de l'environnement |
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| Automotive vehicles – lateral control – longitudinal control – flatness-based control – algebraic estimation – numerical differentiation |
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| hal-00611950, version 1 | |
| http://hal-polytechnique.archives-ouvertes.fr/hal-00611950 | |
| oai:hal-polytechnique.archives-ouvertes.fr:hal-00611950 | |
| Contributeur : Michel Fliess | |
| Soumis le : Mercredi 27 Juillet 2011, 17:58:19 | |
| Dernière modification le : Mercredi 3 Août 2011, 15:14:36 | |
