本文介绍了弗吉尼亚技术运输学院（VTTI）的灵活低成本自动缩放高速公路（FLASH）实验室的发展现状。

FLASH实验室和其中包含的比例模型汽车为智能交通系统（ITS）的小规模开发阶段提供了测试平台。此外，FLASHlab是为教育博物馆展览开发的原型展示的所在地。

本文还详细介绍了在FLASH轿车上实现的横向控制器所遵循的路径。该控制器是使用轮式机器人的运动学模型开发的。

全局运动学模型是使用系统的非完整约束导出的。

该全局模型将转换为路径坐标模型，因此仅需要局部变量。然后将路径坐标模型转换为链式形式，并提供一个控制器来执行路径跟踪。

路径坐标模型为系统引入了一个新参数：路径曲率。因此，有必要将路径的曲率值提供给控制器。由于汽车运行的环境，曲率值是先验已知的。

开发了几种在线方法来确定曲率。

创建了一个用于测试上述算法的MATLAB仿真环境。

仿真使用运动学模型来显示汽车的行为，并尽可能接近实际系统地实现传感器和控制器。

讨论了横向控制器在硬件中的实现。描述了车辆平台，并详细说明了硬件和软件架构。所描述的汽车能够手动和自主操作。在自主模式下，利用了多种传感器，包括：红外，磁，超声和基于图像的技术。描述了每种传感器类型的操作，并讨论了处理器从每种传感器接收的信息。

This thesis describes the current state of development of the Flexible Low-cost AutomatedScaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI).

The FLASH lab and the scale model cars contained therein provide a testbed for the smallscale development stage of intelligent transportation systems (ITS). In addition, the FLASHlab serves as a home to the prototype display being developed for an educational museumexhibit.

This thesis also gives details of the path following lateral controller implemented on theFLASH car. The controller was developed using the kinematic model for a wheeled robot.

The global kinematic model was derived using the nonholonomic contraints of the system.

This global model is converted into the path coordinate model so that only local variablesare needed. Then the path coordinate model is converted into chained form and a controlleris given to perform path following.

The path coordinate model introduces a new parameter to the system: the curvature of thepath. Thus, it is necessary to provide the path’s curvature value to the controller. Becauseof the environment in which the car is operating, the curvature values are known a priori.

Several online methods for determining the curvature are developed.

A MATLAB simulation environment was created with which to test the above algorithms.

The simulation uses the kinematic model to show the car’s behavior and implements thesensors and controller as closely as possible to the actual system.

The implementation of the lateral controller in hardware is discussed. The vehicle platform isdescribed and the hardware and software architecture detailed. The car described is capableof operating manually and autonomously. In autonomous mode, several sensors are utilizedincluding: infrared, magnetic, ultrasound, and image based technology. The operation ofeach sensor type is described and the information received by the processor from each isdiscussed.