Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis
This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed an...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IOP Publishing
2016
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/12856/1/Dynamic%20Curvature%20Steering%20Control%20for%20Autonomous%20Vehicle-%20Performance%20Analysis.pdf |
| _version_ | 1825822876050128896 |
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| author | Muhammad Aizzat, Zakaria Hairi, Zamzuri Saiful Amri, Mazlan |
| author_facet | Muhammad Aizzat, Zakaria Hairi, Zamzuri Saiful Amri, Mazlan |
| author_sort | Muhammad Aizzat, Zakaria |
| collection | UMP |
| description | This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites. |
| first_indexed | 2024-03-06T12:03:03Z |
| format | Article |
| id | UMPir12856 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-12-09T02:29:38Z |
| publishDate | 2016 |
| publisher | IOP Publishing |
| record_format | dspace |
| spelling | UMPir128562024-10-18T02:35:27Z http://umpir.ump.edu.my/id/eprint/12856/ Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis Muhammad Aizzat, Zakaria Hairi, Zamzuri Saiful Amri, Mazlan TS Manufactures This paper discusses the design of dynamic curvature steering control for autonomous vehicle. The lateral control and longitudinal control are discussed in this paper. The controller is designed based on the dynamic curvature calculation to estimate the path condition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the simulation results are presented to show the capability of the controller to track the reference path. The controller is able to predict the path and modify the vehicle speed to suit the path condition. The effectiveness of the controller is shown in this paper whereby identical performance is achieved with the benchmark but with extra curvature adaptation capabilites. IOP Publishing 2016 Article PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/12856/1/Dynamic%20Curvature%20Steering%20Control%20for%20Autonomous%20Vehicle-%20Performance%20Analysis.pdf Muhammad Aizzat, Zakaria and Hairi, Zamzuri and Saiful Amri, Mazlan (2016) Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis. IOP Conference Series: Materials Science and Engineering, 114. pp. 1-7. ISSN 1757-8981 (Print), 1757-899X (Online). (Published) http://iopscience.iop.org/article/10.1088/1757-899X/114/1/012149/meta doi:10.1088/1757-899X/114/1/012149 |
| spellingShingle | TS Manufactures Muhammad Aizzat, Zakaria Hairi, Zamzuri Saiful Amri, Mazlan Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title | Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title_full | Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title_fullStr | Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title_full_unstemmed | Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title_short | Dynamic Curvature Steering Control for Autonomous Vehicle: Performance Analysis |
| title_sort | dynamic curvature steering control for autonomous vehicle performance analysis |
| topic | TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/12856/1/Dynamic%20Curvature%20Steering%20Control%20for%20Autonomous%20Vehicle-%20Performance%20Analysis.pdf |
| work_keys_str_mv | AT muhammadaizzatzakaria dynamiccurvaturesteeringcontrolforautonomousvehicleperformanceanalysis AT hairizamzuri dynamiccurvaturesteeringcontrolforautonomousvehicleperformanceanalysis AT saifulamrimazlan dynamiccurvaturesteeringcontrolforautonomousvehicleperformanceanalysis |