Design, Analysis, and Experiments of Preview Path Tracking Control for Autonomous Vehicles
This paper presents a preview steering control algorithm and its closed-loop system analysis and experimental validation for accurate, smooth, and computationally inexpensive path tracking of automated vehicles. The path tracking issue is formulated as an optimal control problem with dynamic disturb...
Saved in:
| Published in | IEEE transactions on intelligent transportation systems Vol. 21; no. 1; pp. 48 - 58 |
|---|---|
| Main Authors | , |
| Format | Journal Article |
| Language | English |
| Published |
New York
IEEE
01.01.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subjects | |
| Online Access | Get full text |
Cover
Loading…
| Abstract | This paper presents a preview steering control algorithm and its closed-loop system analysis and experimental validation for accurate, smooth, and computationally inexpensive path tracking of automated vehicles. The path tracking issue is formulated as an optimal control problem with dynamic disturbance, i.e., the future road curvature. A discrete-time preview controller is then designed on the top of a linear augmented error system, in which the disturbances within a finite preview window are augmented as part of the state vector. The obtained optimal steering control law is in an analytic form and consists of two parts: 1) a feedback control responding to tracking errors and 2) a feedforward control dealing with the future road curvatures. The designed control's nature, capacity, computation load, and underlying mechanism are revealed by the analysis of system responses in the time domain and the frequency domain, theoretical steady-state error, and comparison with the model predictive control (MPC). The algorithm was implemented on an automated vehicle platform, a hybrid Lincoln MKZ. The experimental and simulation results are then presented to demonstrate the improved performance in tracking accuracy, steering smoothness, and computational efficiency compared to the MPC and the full-state feedback control. |
|---|---|
| AbstractList | This paper presents a preview steering control algorithm and its closed-loop system analysis and experimental validation for accurate, smooth, and computationally inexpensive path tracking of automated vehicles. The path tracking issue is formulated as an optimal control problem with dynamic disturbance, i.e., the future road curvature. A discrete-time preview controller is then designed on the top of a linear augmented error system, in which the disturbances within a finite preview window are augmented as part of the state vector. The obtained optimal steering control law is in an analytic form and consists of two parts: 1) a feedback control responding to tracking errors and 2) a feedforward control dealing with the future road curvatures. The designed control’s nature, capacity, computation load, and underlying mechanism are revealed by the analysis of system responses in the time domain and the frequency domain, theoretical steady-state error, and comparison with the model predictive control (MPC). The algorithm was implemented on an automated vehicle platform, a hybrid Lincoln MKZ. The experimental and simulation results are then presented to demonstrate the improved performance in tracking accuracy, steering smoothness, and computational efficiency compared to the MPC and the full-state feedback control. |
| Author | Xu, Shaobing Peng, Huei |
| Author_xml | – sequence: 1 givenname: Shaobing orcidid: 0000-0002-4127-2411 surname: Xu fullname: Xu, Shaobing email: xushao@umich.edu organization: Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA – sequence: 2 givenname: Huei orcidid: 0000-0002-7684-1696 surname: Peng fullname: Peng, Huei email: hpeng@umich.edu organization: Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA |
| BookMark | eNo9kMFOAjEQhhujiYA-gPHSxCuLnXbLtkeCqCQkkogevGy6ZRYWocV2UXl7l0A8zWTy_ZP8X5ucO--QkBtgPQCm72fj2WuPM9A9rjTXvH9GWiClShiD_vlh52mimWSXpB3jqrmmEqBFPh4wVgvXpQNn1vtYxS41bk5Hv1sM1QZdHakv6TTgd4U_dGrqJZ0FYz8rt6BD7-rg17T0gQ52tXd-43eRvuOysmuMV-SiNOuI16fZIW-Po9nwOZm8PI2Hg0liU5bVydwKbi1qKAvGEOeikDori0KzzALnpuSZSq0BmRleKF6kWpYKYG5kBgr6IDrk7vh3G_zXDmOdr_wuNHVizoUQUmjGWEPBkbLBxxiwzLdNQRP2ObD8oDA_KMwPCvOTwiZze8xUiPjPq77IFFPiD4EjbsQ |
| CODEN | ITISFG |
| CitedBy_id | crossref_primary_10_2200_S01037ED1V01Y202008AAT013 crossref_primary_10_2200_S01037ED1V01Y202008AAT012 crossref_primary_10_1186_s10033_021_00666_0 crossref_primary_10_1109_TITS_2022_3164391 crossref_primary_10_1016_j_trc_2022_103656 crossref_primary_10_1109_LCSYS_2022_3172906 crossref_primary_10_1109_TVT_2021_3112524 crossref_primary_10_1109_JIOT_2023_3307002 crossref_primary_10_1007_s12239_023_0027_4 crossref_primary_10_1109_TCE_2023_3342140 crossref_primary_10_1109_TIV_2019_2955908 crossref_primary_10_1115_1_4065246 crossref_primary_10_1016_j_arcontrol_2022_11_001 crossref_primary_10_1177_10775463231218359 crossref_primary_10_3390_s24051666 crossref_primary_10_1109_TVT_2023_3250328 crossref_primary_10_3390_machines11030403 crossref_primary_10_1016_j_trf_2022_04_008 crossref_primary_10_1109_ACCESS_2024_3406219 crossref_primary_10_1109_TTE_2023_3307671 crossref_primary_10_1007_s12555_021_0812_7 crossref_primary_10_1177_01423312231182746 crossref_primary_10_2174_1872212117666220915113501 crossref_primary_10_3390_machines10020121 crossref_primary_10_1177_09544070211018104 crossref_primary_10_3390_app13179936 crossref_primary_10_1109_JAS_2023_123078 crossref_primary_10_1109_TITS_2023_3250720 crossref_primary_10_1016_j_jfranklin_2023_04_021 crossref_primary_10_1109_TITS_2023_3266195 crossref_primary_10_1002_rnc_6218 crossref_primary_10_1007_s13369_023_08389_1 crossref_primary_10_1109_TNNLS_2021_3084198 crossref_primary_10_3390_act13010007 crossref_primary_10_1080_17415977_2021_1910683 crossref_primary_10_1109_TVT_2020_3014628 crossref_primary_10_1109_ACCESS_2020_3008455 crossref_primary_10_3390_app9224739 crossref_primary_10_3390_s23010405 crossref_primary_10_1109_ACCESS_2019_2933895 crossref_primary_10_4271_02_17_01_0004 crossref_primary_10_1007_s10846_020_01257_2 crossref_primary_10_3390_eng5010013 crossref_primary_10_1177_09544070231185803 crossref_primary_10_1109_TFUZZ_2021_3067724 crossref_primary_10_1007_s12206_023_0704_2 crossref_primary_10_1177_09544070221094112 crossref_primary_10_1109_TVT_2022_3174732 crossref_primary_10_1109_TIV_2022_3218734 crossref_primary_10_3390_pr11061841 crossref_primary_10_1016_j_ast_2020_106482 crossref_primary_10_1080_00423114_2023_2242533 crossref_primary_10_1109_LRA_2022_3193452 crossref_primary_10_1177_09544070231204249 crossref_primary_10_1109_TITS_2020_2978417 crossref_primary_10_1186_s10033_023_00924_3 crossref_primary_10_1177_09544070231221595 crossref_primary_10_3390_act13030101 crossref_primary_10_1109_TITS_2022_3211326 crossref_primary_10_4271_10_07_02_0014 crossref_primary_10_1016_j_tre_2022_102989 crossref_primary_10_1109_TITS_2022_3150365 crossref_primary_10_1109_TITS_2023_3306040 crossref_primary_10_1049_itr2_12356 crossref_primary_10_1109_TIV_2021_3131957 crossref_primary_10_1109_ACCESS_2020_2980188 crossref_primary_10_1109_TIV_2023_3305204 crossref_primary_10_3390_s20216052 crossref_primary_10_1049_itr2_12484 crossref_primary_10_3390_wevj15040160 crossref_primary_10_1109_TVT_2023_3274111 crossref_primary_10_1016_j_knosys_2023_110485 crossref_primary_10_3390_wevj15040167 crossref_primary_10_1109_TVT_2023_3323465 crossref_primary_10_3390_pr11082473 crossref_primary_10_1109_TSMC_2021_3131141 crossref_primary_10_1063_5_0078950 crossref_primary_10_1109_TITS_2024_3377994 crossref_primary_10_3390_act11120378 crossref_primary_10_26599_JICV_2023_9210040 crossref_primary_10_1177_09544070241241872 crossref_primary_10_1109_ACCESS_2020_2972329 crossref_primary_10_1177_09544070221100677 crossref_primary_10_1177_09544070211015928 crossref_primary_10_1109_MITS_2022_3181172 crossref_primary_10_1002_asjc_2739 crossref_primary_10_1080_00423114_2020_1741652 crossref_primary_10_3390_machines12020098 crossref_primary_10_3390_machines9120304 crossref_primary_10_1109_ACCESS_2020_3020075 crossref_primary_10_3390_act10090228 crossref_primary_10_1016_j_sysconle_2024_105735 crossref_primary_10_1109_TIM_2022_3160549 crossref_primary_10_1007_s12555_023_0008_4 crossref_primary_10_1109_TASE_2023_3252625 crossref_primary_10_1109_TIV_2022_3184729 crossref_primary_10_1177_09544070231193178 crossref_primary_10_1109_TCE_2023_3331843 crossref_primary_10_1109_TIV_2023_3340668 crossref_primary_10_3390_wevj15030095 crossref_primary_10_1007_s10586_024_04460_0 crossref_primary_10_1016_j_ast_2022_107816 crossref_primary_10_1155_2021_6631049 crossref_primary_10_1016_j_isatra_2021_12_022 crossref_primary_10_3390_act12040153 crossref_primary_10_3390_electronics10070788 crossref_primary_10_1002_asjc_2844 crossref_primary_10_1177_0954407020923260 crossref_primary_10_1109_TITS_2019_2961739 crossref_primary_10_1177_10775463231181635 crossref_primary_10_1155_2021_5593033 crossref_primary_10_1109_TITS_2021_3114060 crossref_primary_10_3390_act10090242 crossref_primary_10_3390_s21155155 crossref_primary_10_1049_iet_cta_2019_0922 crossref_primary_10_1109_ACCESS_2023_3326247 crossref_primary_10_3390_app13010317 crossref_primary_10_1109_TITS_2024_3353824 crossref_primary_10_1177_0954407020912097 crossref_primary_10_1177_03611981231203221 crossref_primary_10_1007_s12239_021_0013_7 crossref_primary_10_1109_TIV_2022_3173448 crossref_primary_10_1109_TITS_2022_3225538 crossref_primary_10_3390_electronics13081563 crossref_primary_10_3390_s20133689 crossref_primary_10_1007_s40747_023_01280_4 crossref_primary_10_1007_s11042_020_09364_w crossref_primary_10_3390_pr10071292 crossref_primary_10_1016_j_apm_2023_01_027 crossref_primary_10_1109_TITS_2021_3126876 crossref_primary_10_3390_wevj15060221 crossref_primary_10_1016_j_jfranklin_2022_03_011 crossref_primary_10_1016_j_isatra_2022_07_013 crossref_primary_10_1109_TVT_2020_3046052 crossref_primary_10_1007_s11771_020_4561_1 crossref_primary_10_3390_wevj14010011 crossref_primary_10_3390_s22207881 crossref_primary_10_1109_TITS_2021_3118375 crossref_primary_10_1109_JAS_2023_123480 crossref_primary_10_1109_TITS_2022_3207023 crossref_primary_10_3390_app10186249 crossref_primary_10_3390_s23010412 crossref_primary_10_1177_09544070221150023 crossref_primary_10_1109_TITS_2023_3335290 crossref_primary_10_1109_ACCESS_2020_3029635 crossref_primary_10_3390_app10217394 crossref_primary_10_1109_TIV_2023_3319642 crossref_primary_10_1088_1742_6596_1952_3_032012 crossref_primary_10_26599_JICV_2023_9210004 crossref_primary_10_3390_wevj13090165 crossref_primary_10_1109_TITS_2022_3205656 crossref_primary_10_1109_TVT_2022_3176384 crossref_primary_10_1002_rnc_6958 crossref_primary_10_1007_s12239_022_0120_0 crossref_primary_10_1177_09544070221145468 crossref_primary_10_20485_jsaeijae_14_3_58 crossref_primary_10_1177_10775463211009383 crossref_primary_10_3390_app132312898 crossref_primary_10_1016_j_isatra_2021_03_027 crossref_primary_10_1016_j_conengprac_2023_105623 crossref_primary_10_1186_s10033_021_00590_3 crossref_primary_10_1016_j_matpr_2021_06_368 crossref_primary_10_1109_TIV_2024_3358229 crossref_primary_10_1109_TITS_2021_3069497 crossref_primary_10_1049_cth2_12303 crossref_primary_10_3390_app13095340 crossref_primary_10_1016_j_robot_2022_104267 crossref_primary_10_1109_TITS_2020_3021292 |
| Cites_doi | 10.1109/IVS.2018.8500519 10.1016/j.automatica.2014.10.128 10.1109/TMECH.2014.2360613 10.1109/TCST.2016.2601624 10.1002/rnc.3133 10.23919/ACC.1990.4790840 10.1016/j.conengprac.2011.08.005 10.1007/978-3-540-73429-1 10.1115/1.3426525 10.5120/ijca2016908314 10.1016/j.mechatronics.2017.02.001 10.1115/1.2192835 10.1109/TITS.2012.2207894 10.1109/TMECH.2015.2492984 10.1109/TIV.2016.2578706 10.1109/TVT.2015.2483779 10.1007/s10107-004-0559-y 10.1109/TCST.2007.894653 10.1109/TCST.2004.825130 10.1002/oca.2106 10.1109/TMECH.2010.2053851 10.1109/TIE.2012.2221111 |
| ContentType | Journal Article |
| Copyright | Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| Copyright_xml | – notice: Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) 2020 |
| DBID | 97E RIA RIE AAYXX CITATION 7SC 7SP 8FD FR3 JQ2 KR7 L7M L~C L~D |
| DOI | 10.1109/TITS.2019.2892926 |
| DatabaseName | IEEE All-Society Periodicals Package (ASPP) 2005-present IEEE All-Society Periodicals Package (ASPP) 1998-Present IEEE Electronic Library Online CrossRef Computer and Information Systems Abstracts Electronics & Communications Abstracts Technology Research Database Engineering Research Database ProQuest Computer Science Collection Civil Engineering Abstracts Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Academic Computer and Information Systems Abstracts Professional |
| DatabaseTitle | CrossRef Civil Engineering Abstracts Technology Research Database Computer and Information Systems Abstracts – Academic Electronics & Communications Abstracts ProQuest Computer Science Collection Computer and Information Systems Abstracts Engineering Research Database Advanced Technologies Database with Aerospace Computer and Information Systems Abstracts Professional |
| DatabaseTitleList | Civil Engineering Abstracts |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library Online url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISSN | 1558-0016 |
| EndPage | 58 |
| ExternalDocumentID | 10_1109_TITS_2019_2892926 8637808 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: UM-SFmotors Automated Vehicles Project – fundername: OpenCAV Project of Mcity |
| GroupedDBID | -~X 0R~ 29I 4.4 5GY 5VS 6IK 97E AAJGR AASAJ ABQJQ ABTAH ABVLG ACGFO ACGFS ACIWK ACNCT AENEX AETIX AIBXA AKJIK ALMA_UNASSIGNED_HOLDINGS ATWAV BEFXN BFFAM BGNUA BKEBE BPEOZ CS3 DU5 EBS EJD HZ~ H~9 IFIPE IPLJI JAVBF LAI M43 O9- OCL P2P PQQKQ RIA RIE RIG RNS XFK ZY4 AAYXX CITATION 7SC 7SP 8FD FR3 JQ2 KR7 L7M L~C L~D |
| ID | FETCH-LOGICAL-c407t-dc32cce91fb00eed3b597fbb907c122af2784ca157a2b82b495f811da57181613 |
| IEDL.DBID | RIE |
| ISSN | 1524-9050 |
| IngestDate | Thu Oct 10 18:08:31 EDT 2024 Fri Aug 23 03:47:04 EDT 2024 Wed Jun 26 19:27:45 EDT 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 1 |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-c407t-dc32cce91fb00eed3b597fbb907c122af2784ca157a2b82b495f811da57181613 |
| ORCID | 0000-0002-7684-1696 0000-0002-4127-2411 |
| PQID | 2333539000 |
| PQPubID | 75735 |
| PageCount | 11 |
| ParticipantIDs | proquest_journals_2333539000 crossref_primary_10_1109_TITS_2019_2892926 ieee_primary_8637808 |
| PublicationCentury | 2000 |
| PublicationDate | 2020-Jan. 2020-1-00 20200101 |
| PublicationDateYYYYMMDD | 2020-01-01 |
| PublicationDate_xml | – month: 01 year: 2020 text: 2020-Jan. |
| PublicationDecade | 2020 |
| PublicationPlace | New York |
| PublicationPlace_xml | – name: New York |
| PublicationTitle | IEEE transactions on intelligent transportation systems |
| PublicationTitleAbbrev | TITS |
| PublicationYear | 2020 |
| Publisher | IEEE The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher_xml | – name: IEEE – name: The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| References | ref13 rajamani (ref26) 2011 ref12 ref15 ref14 koubaa (ref9) 2015; 9 ref11 ref10 ref2 ref1 ref17 ref16 ref19 tomizuka (ref18) 1973 ref24 ref23 ref20 ref22 ref21 ref27 ref8 ref7 ref3 ref6 ref5 anderson (ref25) 2007 chaib (ref4) 2004 |
| References_xml | – ident: ref5 doi: 10.1109/IVS.2018.8500519 – year: 2007 ident: ref25 publication-title: Optimal Control Linear Quadratic Methods contributor: fullname: anderson – ident: ref17 doi: 10.1016/j.automatica.2014.10.128 – year: 1973 ident: ref18 article-title: The optimal finite preview problem and its application to man-machine systems contributor: fullname: tomizuka – ident: ref24 doi: 10.1109/TMECH.2014.2360613 – ident: ref16 doi: 10.1109/TCST.2016.2601624 – ident: ref15 doi: 10.1002/rnc.3133 – ident: ref21 doi: 10.23919/ACC.1990.4790840 – start-page: 20 year: 2011 ident: ref26 publication-title: Vehicle Dynamics and Control contributor: fullname: rajamani – ident: ref12 doi: 10.1016/j.conengprac.2011.08.005 – volume: 9 start-page: 119 year: 2015 ident: ref9 article-title: Adaptive sliding-mode dynamic control for path tracking of nonholonomic wheeled mobile robot publication-title: J Aut & Sys Engineering contributor: fullname: koubaa – ident: ref14 doi: 10.1007/978-3-540-73429-1 – ident: ref20 doi: 10.1115/1.3426525 – ident: ref13 doi: 10.5120/ijca2016908314 – start-page: 139 year: 2004 ident: ref4 article-title: $\text{H}_{\infty}$ adaptive, PID and fuzzy control: A comparison of controllers for vehicle lane keeping publication-title: Proc IEEE Intell Vehicles Symp contributor: fullname: chaib – ident: ref7 doi: 10.1016/j.mechatronics.2017.02.001 – ident: ref11 doi: 10.1115/1.2192835 – ident: ref1 doi: 10.1109/TITS.2012.2207894 – ident: ref6 doi: 10.1109/TMECH.2015.2492984 – ident: ref3 doi: 10.1109/TIV.2016.2578706 – ident: ref2 doi: 10.1109/TVT.2015.2483779 – ident: ref27 doi: 10.1007/s10107-004-0559-y – ident: ref8 doi: 10.1109/TCST.2007.894653 – ident: ref10 doi: 10.1109/TCST.2004.825130 – ident: ref19 doi: 10.1002/oca.2106 – ident: ref23 doi: 10.1109/TMECH.2010.2053851 – ident: ref22 doi: 10.1109/TIE.2012.2221111 |
| SSID | ssj0014511 |
| Score | 2.6755834 |
| Snippet | This paper presents a preview steering control algorithm and its closed-loop system analysis and experimental validation for accurate, smooth, and... |
| SourceID | proquest crossref ieee |
| SourceType | Aggregation Database Publisher |
| StartPage | 48 |
| SubjectTerms | Algorithms Automation Autonomous vehicles Computational modeling Computer simulation Control algorithms Control systems design Control theory Feedback control Feedforward control Frequency-domain analysis Heuristic algorithms Hybrid vehicles Optimal control Optimization Path tracking Predictive control Preview control Roads Smoothness State feedback State vectors Steering Systems analysis Tracking control Tracking errors Trajectory Vehicle dynamics vehicle dynamics control Vehicles |
| Title | Design, Analysis, and Experiments of Preview Path Tracking Control for Autonomous Vehicles |
| URI | https://ieeexplore.ieee.org/document/8637808 https://www.proquest.com/docview/2333539000 |
| Volume | 21 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3NS8MwFA9zJz34NcXplBw8ydK1Sb9yHHNjCpOBmwwvJUkTBKEV1178603SD4Z68NZDC-G9pO_98n7v9wC4lVEYcsUIYphEyBcuQ7GSElGfMub7PJB21uHiKZyv_cdNsOmAYdsLI6W05DPpmEdby09zUZqrslEckig2nb17EaVVr1ZbMTA6W1YbFfuIukFTwfRcOlo9rJ4NiYs6Gl1ganQUdmKQHary609sw8vsCCyahVWsknenLLgjvn5oNv535cfgsM4z4bjaGCegI7NTcLCjPtgDr_eWvTGEjTDJELIshdNW838LcwWXVXMLXOpUEerIJszdOpxUDHeoU144LgvTGZGXW_gi3yzN7gysZ9PVZI7qUQtIaERXoFQQLISkntLHUIdNwjXQUJxr6Cw8jJky9UnBvCBimMeYa1ilYs9LWaBjm04ayTnoZnkmLwCkKlWGqMVVHPqcMeZKPw4kcUWqdwF2--CuMX7yUSlqJBaJuDQxnkqMp5LaU33QM8ZsX6zt2AeDxl1Jfea2CSaEBMQMQb38-6srsI8NWrYXKAPQLT5Lea1TioLf2L30DYp3yVQ |
| link.rule.ids | 315,783,787,799,27936,27937,55086 |
| linkProvider | IEEE |
| linkToHtml | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PT8IwFH4helAP_kIjitqDJ8Nga7exHglCQIGQCIZ4WdqujYkJGNku_vW23UaIevC2w5Y077V77-v73vcA7mQ7DLlixGGYtB1fuMyJlJQO9Sljvs8DaWcdjifhYO4_LoJFBRqbXhgppSWfyaZ5tLX8ZCUyc1XWikLSjkxn767Oq6Mw79ba1AyM0pZVR8W-Q92grGF6Lm3NhrNnQ-OiTY0vMDVKCltRyI5V-fUvtgGmfwTjcmk5r-S9maW8Kb5-qDb-d-3HcFhkmqiTb40TqMjlKRxs6Q9W4fXB8jcaqJQmaSC2TFBvo_q_RiuFpnl7C5rqZBHp2CbM7Trq5hx3pJNe1MlS0xuxytboRb5Zot0ZzPu9WXfgFMMWHKExXeokgmAhJPWUPog6cBKuoYbiXINn4WHMlKlQCuYFbYZ5hLkGViryvIQFOrrptJGcw85ytZQXgKhKlKFqcRWFPmeMudKPAklckeh9gN0a3JfGjz9yTY3YYhGXxsZTsfFUXHiqBlVjzM2LhR1rUC_dFRenbh1jQkhAzBjUy7-_uoW9wWw8ikfDydMV7GODne11Sh120s9MXusEI-U3dl99AzyHzJ8 |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=Design%2C+Analysis%2C+and+Experiments+of+Preview+Path+Tracking+Control+for+Autonomous+Vehicles&rft.jtitle=IEEE+transactions+on+intelligent+transportation+systems&rft.au=Xu%2C+Shaobing&rft.au=Peng%2C+Huei&rft.date=2020-01-01&rft.pub=The+Institute+of+Electrical+and+Electronics+Engineers%2C+Inc.+%28IEEE%29&rft.issn=1524-9050&rft.eissn=1558-0016&rft.volume=21&rft.issue=1&rft.spage=48&rft_id=info:doi/10.1109%2FTITS.2019.2892926&rft.externalDBID=NO_FULL_TEXT |
| thumbnail_l | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/lc.gif&issn=1524-9050&client=summon |
| thumbnail_m | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/mc.gif&issn=1524-9050&client=summon |
| thumbnail_s | http://covers-cdn.summon.serialssolutions.com/index.aspx?isbn=/sc.gif&issn=1524-9050&client=summon |