Algebraic nonlinear estimation and flatness-based lateral/longitudinal control for automotive vehicles

Abstract : 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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Submitted on : Wednesday, July 27, 2011 - 5:58:19 PM
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  • HAL Id : hal-00611950, version 1

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Lghani Menhour, Brigitte d'Andréa-Novel, Clément Boussard, Michel Fliess, Hugues Mounier. Algebraic nonlinear estimation and flatness-based lateral/longitudinal control for automotive vehicles. ITSC 2011 - 14th International IEEE Conference on Intelligent Transportation Systems, Oct 2011, Washington, United States. pp.CDROM. ⟨hal-00611950⟩

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