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 : Zezheng Huang (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Driver Preview Model with Dual Far-near Points for Autonomous Vehicles
Rongrong Xu,Zezheng Huang,Weihua Li,Jianfeng Wang,Dianbo Ren,Xuewen Geng 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.11
This paper proposes a driver preview-based path-following controller to control both the lateral and longitudinal movements of a vehicle. First, a lateral tracking controller with two preview points is established by considering the displacement and heading errors of the two preview points: the far point, determined by the vehicle speed and fixed preview time, and the near point located at the center of the front axle. Depending on different parameters of the road input, the steering wheel angle is calculated, and different weights are assigned to the steering wheel angles corresponding to different road inputs. Next, a longitudinal tracking controller is established, which controls the vehicle velocity based on the road information of the far point. The control objects are the brake and accelerator pedals. Subsequently, the coupling of the lateral and longitudinal motion of the vehicle is analyzed, and an integrated longitudinal and lateral tracking controller is established. To verify the performance of the controller, the controller and vehicle model are established in Simulink and CarSim, respectively, to enable joint simulation. It is observed that the coupling is solved, and the near-point control makes the tracking error converge to zero and enhances the control effect. It demonstrates high adaptability and control accuracy of the proposed controller.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
