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

Lghani Menhour 1 Brigitte D'Andréa-Novel 1 Clément Boussard 2 Michel Fliess 3 Hugues Mounier 4
1 CAOR - Centre de Robotique
2 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
Inria Paris-Rocquencourt
3 LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
4 L2S - Laboratoire des signaux et systèmes
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.
keyword : Automotive vehicles lateral control longitudinal control flatness-based control algebraic estimation numerical differentiation
Type de document :
Communication dans un congrès
ITSC 2011 - 14th International IEEE Conference on Intelligent Transportation Systems, Oct 2011, Washington, United States. pp.CDROM, 2011
Liste complète des métadonnées

Littérature citée [28 références]  Voir  Masquer  Télécharger
https://hal-polytechnique.archives-ouvertes.fr/hal-00611950
Contributeur : Michel Fliess <>
Soumis le : mercredi 27 juillet 2011 - 17:58:19
Dernière modification le : jeudi 7 février 2019 - 16:19:36
Document(s) archivé(s) le : lundi 7 novembre 2011 - 11:32:59

Fichier

ITSC2011.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-00611950, version 1

Collections

INRIA | LIX | INSMI | X | X-LIX | ENSMP_CAOR | ENSMP | PARISTECH | L2S | SUP_SYSTEMES | SUP_LSS | SUPELEC | INSTITUT-TELECOM | TDS-MACS | PSL | INRIA-ROCQ | X-DEP-INFO

Citation

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, 2011. 〈hal-00611950〉

Exporter

BibTeX TEI DC DCterms EndNote

Partager

Métriques

Consultations de la notice

1948

Téléchargements de fichiers

1153

Contact

support.ccsd.cnrs.fr
hal.support@ccsd.cnrs.fr
Logo CCSD