http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Bohdan Kashel (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Lateral Driving Envelope Protection Using Cascade Control
Denis Efremov,Yehor Zhyliaiev,Bohdan Kashel,Toma? Hani? 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10
The steer-by-wire technology opens a possibility to create new advanced driver assistant systems. This work proposes a control structure that keeps the lateral vehicle dynamics in predefined stability boundaries and prevents the dominant sliding motion. We intentionally employed a cascade control law design suited for embedded platforms, often with low computational capacity. The proposed control hierarchical architecture is heavily inspired by aerospace domain solution, the flight envelope protection algorithms, which are still used in modern civil aircraft. The vehicle lateral acceleration is selected as the control system reference signal, commanded by a driver. The controller tracks such reference signal while respecting the driving envelope and vehicle operation safety limits. Several driving experiments were conducted to evaluate the proposed control structure in the statistical sense. The comparison with solution based on model predictive control framework and baseline vehicle without any assistance system is presented. Performed experiments were evaluated based on objective vehicle performance, like lap time and a number of collisions, combined with a human driver’s subjective evaluation. Experiments clearly show the incoherence of results and biased of skilled drivers. The objectively better vehicle performance, faster lap time with fewer collisions, received a lower subjective evaluation from experienced drivers used to current driving style.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
