详情

原文传递 Research on Active Steering in Curve Driving Based on Trajectory Prediction

题名：	Research on Active Steering in Curve Driving Based on Trajectory Prediction
正文语种：	中文
作者：	Xia Hongyang Chen Jiqing Lan Fengchong Liu Zhaolin
作者单位：	Laboratory of Guangdong Province of Automotive Engineering,South China University of Technology
关键词：	active steering curve driving trajectory prediction lateral control cascade control
摘要：	From the perspective of emulating human driver's predictions,a novel cascade controller for curve driving is provided to realize automatic steering based on trajectory prediction.On the basis of road edge detection and path planning,a predicted point ob-tained by polynomial interpolation is introduced to predict trajectory and reduce influences of short sight distance in winding road.A PID control loop based on neutral-steering is adopted to obviate the disturbances with a high frequency as the vice loop,and then a model predictive controller is adopted to constraint lateral deviation and fluctuation as a main loop.The simulation results in a typical curve driv-ing show that the proposed control algorithm can make favourable tracking performance and promote stability in curve driving.
会议日期：	20171024
会议举办地点：	上海
会议名称：	第19届亚太汽车工程年会暨2017中国汽车工程学会年会
出版日期：	1024-01-20
母体文献：	第19届亚太汽车工程年会暨2017中国汽车工程学会年会论文集