A new model-free setting and the corresponding "intelligent" P and PDcontrollers are employed for the longitudinal and lateral motions of a vehicle.This new approach has been developed and used in order to ensure simultaneouslya best profile tracking for the longitudinal and lateral behaviors. Thelongitudinal speed and the derivative of the lateral deviation, on one hand,the driving/braking torque and the steering angle, on the other hand, arerespectively the output and the input variables. Let us emphasize that a "good"mathematical modeling, which is quite difficult, if not impossible to obtain,is not needed for such a design. An important part of this publication isfocused on the presentation of simulation results with actual and virtual data.The actual data, used in Matlab as reference trajectories, have been obtainedfrom a properly instrumented car (Peugeot 406). Other virtual sets of data havebeen generated through the interconnected platform SiVIC/RTMaps. It is adedicated virtual simulation platform for prototyping and validation ofadvanced driving assistance systems. Keywords- Longitudinal and lateral vehiclecontrol, model-free control, intelligent P controller (i-P controller),algebraic estimation, ADAS (Advanced Driving Assistance Systems).
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