Theory of autodriver for autonomous vehicles

Jazar, R 2010, 'Theory of autodriver for autonomous vehicles', Journal of Vibration and Control, vol. 16, no. 2, pp. 253-279.


Document type: Journal Article
Collection: Journal Articles

Title Theory of autodriver for autonomous vehicles
Author(s) Jazar, R
Year 2010
Journal name Journal of Vibration and Control
Volume number 16
Issue number 2
Start page 253
End page 279
Total pages 27
Publisher Sage
Abstract Introducing an independent four-wheel-steering (4WS) system, we are able to design an autodriver to keep an autonomous vehicle on a given road. The kinematic condition of steering can be used to set the steer angles such that the kinematic center of rotation be at any desired point. The road and tire characteristics, along with the dynamics of a moving vehicle cause the vehicle to turn about an actual point that is not necessarily at the road curvature center. The position of the dynamic turning center can be controlled by adjusting the steer angles such that it coincides with the road curvature center. Such a vehicle will move on the desired road autonomously.
Subject Autonomous Vehicles
Keyword(s) autonomous vehicle
four-wheel-steering
vehicle dynamics
DOI - identifier 10.1177/1077546309104467
Copyright notice © 2010 SAGE Publications
ISSN 1077-5463
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Created: Thu, 16 Dec 2010, 10:56:00 EST by Catalyst Administrator
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