文章基本信息

标题：Two-Degrees-of-Freedom Lateral Vehicle Control using Nonlinear Model Based Disturbance Compensation
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作者：Stefan Hahn ; Stefan Hahn ; Klaus Zindler 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2016
卷号：49
期号：11
页码：182-189
DOI：10.1016/j.ifacol.2016.08.028
语种：English
出版社：Elsevier
摘要：Abstract Evasive pedestrian protection systems avoid imminent collisions with vulnerable road users via autonomous evasive maneuvers. For this purpose, a new lateral control scheme is presented in this paper. We propose a new two-degrees-of-freedom control structure consisting of a linear PDT2 controller and a nonlinear model based disturbance compensation. By means of the latter component the highly nonlinear influence of the evasive trajectory’s curvature (disturbance variable) to the lateral deviation (controlled variable) is compensated. In contrast to classical nonlinear control methods, the proposed control scheme does not require the measurement of the complete state vector.
关键词：KeywordsAutonomous DrivingCollision AvoidanceTwo-Degrees-of-Freedom ControlNonlinear Model Based Disturbance CompensationLateral Vehicle Guidance