標題: Robustness of front-wheel-steered vehicles with the angle controllers connected to actual lane command
作者: Bing-Fei Wu
Shih-Meng Chang
交大名義發表
National Chiao Tung University
關鍵字: unmanned cars;lane scheduled gains;two angle controllers and feed-forward controller
公開日期: 2006
摘要: This study analyzes front wheels steering (FWS) vehicles using results obtained from two unmanned cars: Unmanned Car I (UCI) and Unmanned Car 11 (UCII). The vehicle model integrates the lane angle derived from the translational system such that data on the lateral position, the lateral velocity and the lateral acceleration are comprehensively obtained. The main function of each block in the two newly developed structures is described as follows. Two angle controllers were used to eliminate the redundant components of the front-wheel steering angles. A lane scheduled gain (LSG) in each system was used to improve the lane angle deflection in UCI and UCII while the feed-forward controller simulates the behavior of a driver. The use of an empirical pre-filter reduces the lane angle error for UCI and UCII hence enhancing the performance of the system. Finally, the numerical calculation has shown that the two proposed systems are capable of tracking the desired course accurately.
URI: http://hdl.handle.net/11536/17222
http://dx.doi.org/10.1109/ICSMC.2006.384535
ISBN: 978-1-4244-0099-7
ISSN: 1062-922X
DOI: 10.1109/ICSMC.2006.384535
期刊: 2006 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-6, PROCEEDINGS
起始頁: 1030
結束頁: 1035
Appears in Collections:Conferences Paper


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