Lateral Control of Autonomous Electric Cars for Relocation of Public Urban Mobility Fleet
This brief deals with lateral dynamic control of electric vehicles in an urban environment, motivated by individual public transportation issues, aimed to contribute to reduce metropolitan areas pollution. The framework in which the control strategy is developed is the so-called "look-down refe...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2007-05, Vol.15 (3), p.590-598 |
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| creator | Malan, S. Milanese, M. Borodani, P. Gallione, A. |
| description | This brief deals with lateral dynamic control of electric vehicles in an urban environment, motivated by individual public transportation issues, aimed to contribute to reduce metropolitan areas pollution. The framework in which the control strategy is developed is the so-called "look-down reference," in which the lateral displacement is obtained from a onboard sensor, interacting with a road infrastructure. In this framework, the designed control algorithm is made up of a combined feedback-feedforward structure. The feedback action is given by three nested closed loops with cascade compensators, where the outer one is nonlinear. The feedforward action is based on the knowledge of the road curvature, corrected by the measure of the car lateral displacement. Results from experimental tests performed on an actual circuit show the effectiveness of the considered control strategy |
| doi_str_mv | 10.1109/TCST.2007.894657 |
| format | Article |
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The framework in which the control strategy is developed is the so-called "look-down reference," in which the lateral displacement is obtained from a onboard sensor, interacting with a road infrastructure. In this framework, the designed control algorithm is made up of a combined feedback-feedforward structure. The feedback action is given by three nested closed loops with cascade compensators, where the outer one is nonlinear. The feedforward action is based on the knowledge of the road curvature, corrected by the measure of the car lateral displacement. Results from experimental tests performed on an actual circuit show the effectiveness of the considered control strategy</description><identifier>ISSN: 1063-6536</identifier><identifier>EISSN: 1558-0865</identifier><identifier>DOI: 10.1109/TCST.2007.894657</identifier><identifier>CODEN: IETTE2</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Algorithm design and analysis ; Autonomous road vehicles ; Circuit testing ; Control systems ; Control theory ; Curvature ; Displacement ; Displacement control ; Electric vehicles ; Feedback loop ; Feedforward ; lane keeping ; lateral control ; nested linear-nonlinear control ; Public transportation ; Roads ; Strategy ; Transportation ; Urban areas ; urban areas environmental factors ; Urban pollution ; Vehicle dynamics</subject><ispartof>IEEE transactions on control systems technology, 2007-05, Vol.15 (3), p.590-598</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2007</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c419t-9aacf1c5f3416a5481d1465ff75fb8ae4160eb6a86531542fde61ad12d46e69a3</citedby><cites>FETCH-LOGICAL-c419t-9aacf1c5f3416a5481d1465ff75fb8ae4160eb6a86531542fde61ad12d46e69a3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4162488$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4162488$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Malan, S.</creatorcontrib><creatorcontrib>Milanese, M.</creatorcontrib><creatorcontrib>Borodani, P.</creatorcontrib><creatorcontrib>Gallione, A.</creatorcontrib><title>Lateral Control of Autonomous Electric Cars for Relocation of Public Urban Mobility Fleet</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>This brief deals with lateral dynamic control of electric vehicles in an urban environment, motivated by individual public transportation issues, aimed to contribute to reduce metropolitan areas pollution. The framework in which the control strategy is developed is the so-called "look-down reference," in which the lateral displacement is obtained from a onboard sensor, interacting with a road infrastructure. In this framework, the designed control algorithm is made up of a combined feedback-feedforward structure. The feedback action is given by three nested closed loops with cascade compensators, where the outer one is nonlinear. The feedforward action is based on the knowledge of the road curvature, corrected by the measure of the car lateral displacement. Results from experimental tests performed on an actual circuit show the effectiveness of the considered control strategy</description><subject>Algorithm design and analysis</subject><subject>Autonomous road vehicles</subject><subject>Circuit testing</subject><subject>Control systems</subject><subject>Control theory</subject><subject>Curvature</subject><subject>Displacement</subject><subject>Displacement control</subject><subject>Electric vehicles</subject><subject>Feedback loop</subject><subject>Feedforward</subject><subject>lane keeping</subject><subject>lateral control</subject><subject>nested linear-nonlinear control</subject><subject>Public transportation</subject><subject>Roads</subject><subject>Strategy</subject><subject>Transportation</subject><subject>Urban areas</subject><subject>urban areas environmental factors</subject><subject>Urban pollution</subject><subject>Vehicle dynamics</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2007</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNp9kT1PwzAQhiMEEqWwI7FYDDCl2PFHk7GKWkAqAkE7MFlOcpZSuXGxnaH_HkdBDAxMd7p77nTvvUlyTfCMEFw8bMqPzSzDeD7LCyb4_CSZEM7zFOeCn8YcC5oKTsV5cuH9DmPCeDafJJ9rFcApg0rbBWcNshot-mA7u7e9R0sDdXBtjUrlPNLWoXcwtlahtd2AvvWVid2tq1SHXmzVmjYc0coAhMvkTCvj4eonTpPtarkpn9L16-NzuVinNSNFSAulak1qrikjQnGWk4bE-7Wec13lCmIVQyVUlEEJZ5luQBDVkKxhAkSh6DS5H_cenP3qwQe5b30NxqgOogSZF4IUvGBZJO_-JSkTmGZ0AG__gDvbuy6qkPGM-DvCRYTwCNXOeu9Ay4Nr98odJcFysEQOlsjBEjlaEkduxpEWAH7xqDBjeU6_AaKXht8</recordid><startdate>20070501</startdate><enddate>20070501</enddate><creator>Malan, S.</creator><creator>Milanese, M.</creator><creator>Borodani, P.</creator><creator>Gallione, A.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope><scope>F28</scope></search><sort><creationdate>20070501</creationdate><title>Lateral Control of Autonomous Electric Cars for Relocation of Public Urban Mobility Fleet</title><author>Malan, S. ; Milanese, M. ; Borodani, P. ; Gallione, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c419t-9aacf1c5f3416a5481d1465ff75fb8ae4160eb6a86531542fde61ad12d46e69a3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Algorithm design and analysis</topic><topic>Autonomous road vehicles</topic><topic>Circuit testing</topic><topic>Control systems</topic><topic>Control theory</topic><topic>Curvature</topic><topic>Displacement</topic><topic>Displacement control</topic><topic>Electric vehicles</topic><topic>Feedback loop</topic><topic>Feedforward</topic><topic>lane keeping</topic><topic>lateral control</topic><topic>nested linear-nonlinear control</topic><topic>Public transportation</topic><topic>Roads</topic><topic>Strategy</topic><topic>Transportation</topic><topic>Urban areas</topic><topic>urban areas environmental factors</topic><topic>Urban pollution</topic><topic>Vehicle dynamics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Malan, S.</creatorcontrib><creatorcontrib>Milanese, M.</creatorcontrib><creatorcontrib>Borodani, P.</creatorcontrib><creatorcontrib>Gallione, A.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><jtitle>IEEE transactions on control systems technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Malan, S.</au><au>Milanese, M.</au><au>Borodani, P.</au><au>Gallione, A.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Lateral Control of Autonomous Electric Cars for Relocation of Public Urban Mobility Fleet</atitle><jtitle>IEEE transactions on control systems technology</jtitle><stitle>TCST</stitle><date>2007-05-01</date><risdate>2007</risdate><volume>15</volume><issue>3</issue><spage>590</spage><epage>598</epage><pages>590-598</pages><issn>1063-6536</issn><eissn>1558-0865</eissn><coden>IETTE2</coden><abstract>This brief deals with lateral dynamic control of electric vehicles in an urban environment, motivated by individual public transportation issues, aimed to contribute to reduce metropolitan areas pollution. The framework in which the control strategy is developed is the so-called "look-down reference," in which the lateral displacement is obtained from a onboard sensor, interacting with a road infrastructure. In this framework, the designed control algorithm is made up of a combined feedback-feedforward structure. The feedback action is given by three nested closed loops with cascade compensators, where the outer one is nonlinear. The feedforward action is based on the knowledge of the road curvature, corrected by the measure of the car lateral displacement. Results from experimental tests performed on an actual circuit show the effectiveness of the considered control strategy</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TCST.2007.894657</doi><tpages>9</tpages></addata></record> |
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| ispartof | IEEE transactions on control systems technology, 2007-05, Vol.15 (3), p.590-598 |
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| subjects | Algorithm design and analysis Autonomous road vehicles Circuit testing Control systems Control theory Curvature Displacement Displacement control Electric vehicles Feedback loop Feedforward lane keeping lateral control nested linear-nonlinear control Public transportation Roads Strategy Transportation Urban areas urban areas environmental factors Urban pollution Vehicle dynamics |
| title | Lateral Control of Autonomous Electric Cars for Relocation of Public Urban Mobility Fleet |
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