Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

Hu Chuan; Wang Rongrong; Yan Fengjun; Chen Nan

首頁> 外文期刊>Intelligent Transportation Systems, IEEE Transactions on >Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

【24h】

Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

機(jī)譯：自主車輛在路徑上的期望航向是否應(yīng)該是期望路徑的切線方向？

獲取原文

獲取原文并翻譯 | 示例

開具論文收錄證明 >>

頁面導(dǎo)航

摘要
著錄項(xiàng)
引文網(wǎng)絡(luò)
相似文獻(xiàn)
相關(guān)主題

摘要

The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the tangent direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are conflicting in the presence of sliding effects, and the sideslip angle does not equal to zero when the vehicle is tracking a curve path. This paper further provides an amendment to the definition of the desired heading, which realizes a more accurate path-following maneuver. In the controller design phase, backstepping is used to generate the required yaw rate, and an LQR controller is adopted to obtain the optimal active front steering input. The CarSim–Simulink joint simulation verifies the reasonability of the amendment to the desired heading.

機(jī)譯：本文研究了自動駕駛汽車的路徑跟蹤問題。通常將期望的車輛航向選擇為期望路徑上的切線方向。本文指出，傳統(tǒng)的期望航向定義可能會降低路徑跟蹤性能，特別是在車輛跟蹤大曲率的路徑時。這是因?yàn)樵诖嬖诨瑒有Ч那闆r下，側(cè)滑角控制和橫擺率控制沖突，并且當(dāng)車輛跟蹤彎道時，側(cè)滑角不等于零。本文還對所需航向的定義進(jìn)行了修正，從而實(shí)現(xiàn)了更精確的路徑跟蹤操縱。在控制器設(shè)計階段，使用后推來生成所需的橫擺率，并采用LQR控制器來獲得最佳的主動前轉(zhuǎn)向輸入。 CarSim–Simulink聯(lián)合仿真驗(yàn)證了對所需航向的修正的合理性。

著錄項(xiàng)

來源
《Intelligent Transportation Systems, IEEE Transactions on》 |2015年第6期|3084-3094|共11頁
作者
Hu Chuan; Wang Rongrong; Yan Fengjun; Chen Nan;
展開▼
作者單位

展開▼
收錄信息
原文格式 PDF
正文語種 eng
中圖分類
關(guān)鍵詞
Autonomous vehicles; desired-heading amendment; path following; preview control;

機(jī)譯：自動駕駛汽車;期望航向修正;路徑跟蹤;預(yù)覽控制;

相似文獻(xiàn)

外文文獻(xiàn)
中文文獻(xiàn)
專利

1. Robust Composite Nonlinear Feedback Path-Following Control for Underactuated Surface Vessels With Desired-Heading Amendment [J] . Chuan Hu, Rongrong Wang, Fengjun Yan, IEEE Transactions on Industrial Electronics . 2016,第10期

機(jī)譯：期望航向修正的欠驅(qū)動表面容器的魯棒復(fù)合非線性反饋路徑跟隨控制
2. Crack propagation toward a desired path by controlling the force direction [J] . Baoxing Xu, Xi Chen, Haim Waisman Engineering Fracture Mechanics . 2009,第16期

機(jī)譯：通過控制力的方向，裂紋向期望的路徑傳播
3. Direction-dependent optimal path planning for autonomous vehicles [J] . Shum Alex, Morris Kirsten, Khajepour Amir Robotics and Autonomous Systems . 2015,第Null期

機(jī)譯：自動駕駛汽車的方向相關(guān)最佳路徑規(guī)劃
4. Should the desired vehicle heading in path following of autonomous vehicles be the tangent direction of the desired path? [C] . Rongrong Wang, Chuan Hu, Fengjun Yan, American Control Conference . 2015

機(jī)譯：自主車輛沿路徑行駛的期望車輛行駛方向是否應(yīng)為期望路徑的切線方向？
5. Active cross-path correlation for autonomous vehicle path following. [D] . Krantz, Donald Gordon. 1995

機(jī)譯：主動交叉路徑相關(guān)性，用于自主車輛路徑跟隨。
6. The Path Forward for Digital Measures: Suppressing the Desire to Compare Apples and Pineapples [O] . Carrie R. Houts, Bray Patrick-Lake, Ieuan Clay, 2020

機(jī)譯：數(shù)字措施的道路：抑制比較蘋果和菠蘿的愿望
7. Steering of a boost vehicle to a desired flight path angle trajectory using angle of attack control [O] . Bonnice William Fenton 1983

機(jī)譯：使用迎角控制將助推車輛轉(zhuǎn)向到期望的飛行路徑角度軌跡

免费精品视频一区二区三区学生,被3个黑人老外玩的4p,人妻精品无码中文无码一区无,添女人荫蒂全部过

Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?

摘要

著錄項(xiàng)

引文網(wǎng)絡(luò)

相似文獻(xiàn)

相關(guān)主題

期刊訂閱