12권 5호 679-686 2011 [IJAT]
| 제목 | COMPREHENSIVE LATERAL DRIVER MODEL FOR CRITICAL MANEUVERING CONDITIONS |
|---|---|
| 분야 | Chassis |
| 언어 | English |
| 저자 | H.-Z. LI(Tsinghua University), J. SONG(Tsinghua University), L. LI(Tsinghua University), L.-Y. YU(Tsinghua University) |
| Key Words | Driver model, Path planning, Comprehensive driver model, Position error, Yaw error |
| 초록 |
ABSTRACT−A new comprehensive driver model is presented for critical maneuvering conditions with more accurate dynamic control performance. In order to achieve a safe maneuvering mode, a new path planning scheme to maintain stability of the vehicle was designed. A new steering strategy, considering the errors of vehicle position and yaw angle between the real track and the planned path, was established to obtain the steering angle. Therefore, the vehicle can be adjusted to accurately follow the desired path with the driver model, and the stability of the vehicle and the smoothness of the steering angle input were comprehensively considered. Simulation results were used to validate the control performance in comparison with the optimal preview driver model proposed by Macadam. |
| 미리보기 | 다운로드 |
| 원문(PDF) | 다운로드 |