「運動と振動の制御」シンポジウム講演論文集
Online ISSN : 2424-3000
セッションID: D29
会議情報
D29 横方向速度計測を用いない適応車線追従制御(M-OS15-2 適応学習制御とその応用II,M-OS15 適応学習制御とその応用,「海を越え,国を越え,世代を超えて!」)
山本 佳太束 攀峰卓 錦シン大屋 勝敬
著者情報
会議録・要旨集 フリー

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抄録
In this paper, we propose an adaptive lane keeping controller using the front and rear wheel steering. The developed controller does not require any accurate knowledge of all vehicle parameters, the road curvatures and the measurements of the lateral velocity. At first, a new dynamic expression for the vehicle dynamics is proposed. The dynamic expression is suitable to design a stable adaptive lane keeping controller without using the lateral velocity of vehicles. Next, an estimator is shown for unknown curvatures of target lanes, and then, we propose a method to design ideal transient trajectories for the relative lateral distance and the relative yaw angle between vehicles and target lanes. Finally, an adaptive lane keeping controller is developed. In the adaptive steering system using the developed controller, is proved theoretically that good robust performance can be achieved by setting only one design parameter.
著者関連情報
© 2013 一般社団法人 日本機械学会
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