Improvement and Experimental Validation of Lane-keeping Control Based on a Bat′s Flight Model
コウモリの飛行モデルに基づく車線追従制御の改良と実車検証
Our previous study reported a look-ahead bio-mimetic controller for lane-keeping based on a bat's flight model. The look-ahead controller consisted of feedback of look-ahead angle and achieved good tracking even when course curvature changed. However, the look-ahead controller could not achieved good damping. In this paper, we propose a look-ahead controller added feedback of lateral deviation. First, root locus shows that the proposed controller improves damping. Next, numerical simulations show that the proposed controller achieves both good tracking and good damping. Finally, actual vehicle test validates the proposed controller.コウモリの飛行モデルに基づく車線追従制御則は，コースの曲率変化に対する追従性に優れることが報告されている．本稿では，この制御則が十分な減衰性を確保できないことを示し，改良制御則を提案する．極配置解析とシミュレーションにより，改良制御則は追従性と減衰性を両立できることを示し，実車実験により検証した．
- Record URL:
- Summary URL:
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Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
- Publication Date: 2012
Language
- English
- Japanese
Media Info
- Media Type: Web
- Pagination: pp 33-38
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Serial:
- Transactions of Society of Automotive Engineers of Japan
- Volume: 43
- Issue Number: 1
- Publisher: Society of Automotive Engineers of Japan
- ISSN: 0287-8321
- EISSN: 1883-0811
- Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
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Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Automated vehicle control; Automatic controllers; Highway safety; Lane distribution
- Uncontrolled Terms: Bats
- Subject Areas: Highways; Safety and Human Factors; Vehicles and Equipment; I91: Vehicle Design and Safety;
Filing Info
- Accession Number: 01516208
- Record Type: Publication
- Source Agency: Japan Science and Technology Agency (JST)
- Files: TRIS, JSTAGE
- Created Date: Feb 28 2014 12:30PM