文章基本信息

标题：Robust lateral control of cars: Towards a reduction of pessimism and an easy trade-off between performance, comfort and robustness
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作者：Simon Mustaki ; Philippe Chevrel ; Mohamed Yagoubi 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：5
页码：197-204
DOI：10.1016/j.ifacol.2019.09.032
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a methodology to design a Lane Centering Assistance (LCA) system. It proposes an original approach to deal with the large parametric uncertainties encountered by automotive design engineers. Indeed, the same controller is supposed to be used for a specific vehicle regardless its configuration (tire, load, motorization, etc.). The methodology consists in a gradual insertion of the designers expertise in order to reduce as much as possible the inherent pessimism of a multi-model design approach. It also proposes some direct parameters to easily adjust the sought trade-off between performance (low lateral error) and driving feeling (jerks). The proposed design process is validated by high-fidelity simulations using complete nonlinear vehicle models.
关键词：KeywordsAutomotive ControlActive SafetyDriver Assistance SystemsLane Centering AssistancePlant ModellingSystem IdentificationModel-based Calibration