第九章横向运动控制
To maintain the smoothness of the steering system,different control strategies should be
used to control the steering system for linear
and curvilinear roads,re-spectively
Computer should drive car like following:
In linear roads,in-car computers calculate look-ahead distance as the input of controllers directly controlling the steering wheel angle of a vehicle.When a control system gives a steering signal,the executive part will respond very quickly and the steering magnitude is very small.By contrast,when the car is entering a curvilinear road,the in-car computer obtains the radius of the curve and the steering angle,and then generates steering commands.
To simulate human driving,we introduce two different control strategies to adapt to different road conditions.
1.直线行驶工况
1.1 预瞄距离的确定
1.2 预瞄误差的确定
2.弯道行驶工况
real line
From the statistical properties of random errors,the sum of random errors is zero,
and we have
3.圆弧半径的计算
接上数学推演
4 Algorithm Flow
▪calculate the curvatures of each sampling point
▪Using the Gaussian filter to smooth the curvature
前轮转角的关系
We would like to point out that a fuzzy controller is used
as the lateral controller。