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Unified Control Design for Autonomous Vehicle 323

0.5
Leading
0 p=– 0.5
p=– 1
– 0.5 p=– 2
Velocity (m/sec) – 1.5
p=– 3
– 1

– 2

– 2.5
0 5 10 15 20 25 30 35 40 45 50
Time (sec)

FIGURE 8.16 Vehicle velocity v for different values of p.

20

15
10
Steering angle g (°) – 5
5

0

– 10 Leading
p=– 0.5
p=– 1
– 15 p=– 2
p=– 3
– 20
0 5 10 15 20 25 30 35 40 45 50
Time (sec)

FIGURE 8.17 Steering angle γ for different values of p.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 323 — #29