The application of microprocessors to vehicular longitudinal and lateral control is evaluated. In both cases, a nonlinear, velocity-depedendent controller is designed, implemented on a microcomputer, and evaluated. Vehicle performance in the longitudinal mode, as determined from a laboratory evaluation, was characterized by small tracking errors ( less than 16 cm and less than 70 cm for small- and large-signal inputs, respectively) and a comfortable ride over the speed range 0-31 m/s. Performance in the lateral mode, as determined from field tests, was also characterized by small tracking errors ( less than 4 cm) and a comfortable ride over the same speed range. It is concluded that controllers which would be too costly and/or too complex to realize with analog electronics, can be practically implemented using microprocessors.
|Number of pages||8|
|Publication status||Published - 1986|