Browse Publications Technical Papers 2017-01-0036
2017-03-28

Low-Speed Longitudinal Distance Control with Applications to Parking 2017-01-0036

We introduce a controller designed to stop a vehicle smoothly and accurately at a specified distance target, while being robust to unmeasured disturbances. This controller has a wide range of applications in instances where low speed longitudinal control of a vehicle is desired. Controller design was validated in a simulation using an ideal vehicle model based on first principles. Real world testing and tuning was performed on a full-size pickup truck to demonstrate controller performance.

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