原文传递
Lane keeping Control Based on PWA Vehicle Model
| 题名： | Lane keeping Control Based on PWA Vehicle Model |
| 正文语种： | 中文 |
| 作者： | Zhang Bingli Zhang Jie Huang He Lv Minyu |
| 作者单位： | of Automobile and Traffic Engineering,Hefei University of Technology |
| 关键词： | lane keeping control PWA vehicle model steering wheel angle tire cornering force |
| 摘要： | When the road surface adhesion coefficient is low,the tire cornering force exhibits strong nonlinearity.In this situation,the general 2DOF(degree-of-freedom)vehicle model is deviated from the actual vehicle model,and the controller performance based on the model is inevitably reduced.In this paper,we use PWA(Piecewise Affine)method to linearize the lateral force of vehicle tire.Based on the PWA(Piecewise Affine)vehicle model and lateral driver model,the optimal steering wheel angle is calculated and the lane keeping controller is designed.The simulation results show that the performance of the lane keeping controller is better than that of the controller designed based on the general 2 DOF vehicle model when the road surface adhesion coefficient is low. |
| 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 |
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