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Automated vehicle guidance using discrete reference markersTechniques for providing steering control for an automated vehicle using discrete reference markers fixed to the road surface are investigated analytically. Either optical or magnetic approaches can be used for the sensor, which generates a measurement of the lateral offset of the vehicle path at each marker to form the basic data for steering control. Possible mechanizations of sensor and controller are outlined. Techniques for handling certain anomalous conditions, such as a missing marker, or loss of acquisition, and special maneuvers, such as u-turns and switching, are briefly discussed. A general analysis of the vehicle dynamics and the discrete control system is presented using the state variable formulation. Noise in both the sensor measurement and in the steering servo are accounted for. An optimal controller is simulated on a general purpose computer, and the resulting plots of vehicle path are presented. Parameters representing a small multipassenger tram were selected, and the simulation runs show response to an erroneous sensor measurement and acquisition following large initial path errors.
Document ID
19790041103
Document Type
Reprint (Version printed in journal)
Authors
Johnston, A. R. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Assefi, T. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lai, J. Y. (California Institute of Technology, Jet Propulsion Laboratory, Pasadena Calif., United States)
Date Acquired
August 9, 2013
Publication Date
February 1, 1979
Publication Information
Publication: IEEE Transactions on Vehicular Technology
Volume: T-28
Subject Category
URBAN TECHNOLOGY AND TRANSPORTATION
Funding Number(s)
CONTRACT_GRANT: NAS7-100
Distribution Limits
Public
Copyright
Other