Preview based control of a tractor trailer using DGPS for preventing road departure accidents

Research output: Contribution to conferencePaper

15 Scopus citations

Abstract

To reduce the number of road departure accidents caused by fatigue and driver inattention, intervention strategies were investigated during critical situations as part of a human-centered approach to lateral vehicle control. A system was designed and integrated which monitors the vehicle/driver's behavior noninvasively and takes over control if and when the driver does not react appropriately. A preview based controller implemented on a Navistar 9400 series tractor-trailer comprised of a `pursuit' algorithm which steers the vehicle towards goal points on the road, stored in the form of a digital map. A Novatel RT-20 second generation DGPS system is the primary sensor modality for providing feedback of the vehicle's position and orientation.

Original languageEnglish (US)
Pages797-805
Number of pages9
StatePublished - Dec 1 1997
EventProceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC - Boston, MA, USA
Duration: Nov 9 1997Nov 12 1997

Other

OtherProceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC
CityBoston, MA, USA
Period11/9/9711/12/97

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    Morellas, V., Morris, T., Alexander, L. G., & Donath, M. (1997). Preview based control of a tractor trailer using DGPS for preventing road departure accidents. 797-805. Paper presented at Proceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC, Boston, MA, USA, .