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
3 LIX - Laboratoire d'informatique de l'École polytechnique [Palaiseau]
4 L2S - Laboratoire des signaux et systèmes

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.

Keywords: Automotive vehicles; lateral control; longitudinal control; flatness-based control; algebraic estimation; numerical differentiation

Domains: Computer Science [cs]; Automatic Control Engineering; Engineering Sciences [physics]; Automatic; Mathematics [math]; Optimization and Control [math.OC]; Computer Science [cs]; Signal and Image Processing; Engineering Sciences [physics]; Signal and Image processing; Environmental Sciences; Environmental Engineering

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⟩