Summary

This project focuses on lateral control during magnetometer failures. The current PATH lateral control algorithms rely on the outputs of two sets of magnetometers, one installed at the front bumper and the other at the rear bumper. Lateral control based only on the front magnetometers at high speeds has not been fully studies. Lateral control based only on rear magnetometers has never been studied. We will also work towards an autonomous lateral control (ALC) based on measurements of lateral error and yaw angle relative to a preceding vehicle. The ALC will utilize the IRIS (for Intelligent Ranging using Infrared Sensors) system developed by Professor Kanellakopoulos and his co-workers at UCLA. The ALC based on IRIS may serve as a back-up system for the magnet-magnetometer based controller. It may also be combined with an adaptive cruise control (ACC) system. This will extend the capability of the PATH ITS program into the area of infrastructure-free and mixed mode traffic.

Tasks

• Task 1 Simulation of lateral controller with front sensor
• Task 2 Experiment of lateral controller with front sensors
• Task 3 Switching transient from F/R sensors to front sensors
• Task 4 Design of lateral controller with rear sensors
• Task 5 Experiment of lateral controller with rear sensors
• Task 6 Analysis to integrate lateral controller with rear sensors and the autonomous lateral controller
• Task 7 Switching transient from F/R to rear sensors
• Task 8 Design of autonomous lateral controller
• Task 9 Modifications of IRIS system for autonomous lateral control
• Task 10 Experiment of autonomous lateral control
• Task 11 Experiment of integrated lateral controller