文章基本信息

标题：Case Study on a Proven Concept for Lateral Path Following Control
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作者：Frank Schrödel ; Norman Schwarz
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：8
页码：344-349
DOI：10.1016/j.ifacol.2019.08.111
语种：English
出版社：Elsevier
摘要：AbstractA proven lateral path following concept will be introduced in the present study. The main idea is to increase the tracking accuracy by omitting a look ahead based control law and utilizing a simple model which nicely represents the lateral vehicle dynamic. The resulting cascade control structure, as well as the vehicle dynamic model, is discussed in detail. Based on this, model-based controller tuning methods are applied for the parameterization of the individual controllers. Finally, the results are verified with real-world test drive data. Within the scope of this study, it is aimed to propose a robust and easy to tune controller structure in order to regulate the lateral movement of the vehicle in a smooth way. In accordance with that aim, it is more focused on classical control methods than the more sophisticated and computational complex control strategies.
关键词：KeywordsAutomated Guided VehiclesAutomobile IndustryAutomotive ControlDynamic Behavior