Investigation on the Driver’s Steering Model Employing Several Preview Points
複数の前方注視点を用いた車線追従制御則の提案
Drivers’ steering model to follow the target course is described. The target yaw rate is calculated based on the relative position of the preview point and by generating this yaw rate, the vehicle can follow the target course as a result. In previous studies, the number of the preview point was one. Therefore, the damping ratio of the tracking system was fixed to critical value. The authors have solved this problem by employing two preview points and the curve negotiation with no steady state error can be achieved. At the same time, the dynamics of the system can be designed arbitrarily.前方コース上の目標地点と自車の相対位置から目標ヨーレイトを演算してコース追従する操舵モデルでは，定常曲線走行時の定常偏差除去と，減衰比の自在な設定の両立はできなかった．本報では相対的な目標地点を二点としてこの問題を解決すると共に，上記二性能の両立が可能になる理由を数学的，物理的に明らかにした．
- Record URL:
- Record URL:
-
Availability:
- Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
-
Authors:
- Furusho, Hiroyuki
- Kazama, Keisuke
- Haramiishi, Yasutake
- Mouri, Hiroshi
- Publication Date: 2014-3
Language
- English
- Japanese
Media Info
- Media Type: Digital/other
- Features: Figures; References; Tables;
- Pagination: pp 315-321
-
Serial:
- Transactions of Society of Automotive Engineers of Japan
- Volume: 45
- Issue Number: 2
- Publisher: Society of Automotive Engineers of Japan
- ISSN: 0287-8321
- EISSN: 1883-0811
- Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
-
Publication flags:
Open Access (libre)
Subject/Index Terms
- TRT Terms: Automatic steering control; Automatic tracking; Automobile drivers; Automobile driving; Curvature; Driver support systems; Mathematical models; Motor vehicle dynamics; Steering; Yaw
- Uncontrolled Terms: Lane keeping
- Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;
Filing Info
- Accession Number: 01666889
- Record Type: Publication
- Source Agency: Japan Science and Technology Agency (JST)
- Files: TRIS, JSTAGE
- Created Date: Apr 23 2018 4:47PM