Cant-Lane Keeping Analysis and Modeling for Autonomous Trucks


This paper concerns the modeling of autonomous trucks that run sensing the lateral deviation and relative attitude to the lane of express way. As actual roads consist of cants and curves, vehicles that run the roads are given the lateral forces caused by the cants and curvatures. “Relative Cant” involving the influence of the forces is defined and built in the models. The availability of 3DOF model to simulate an actual truck performs the cant-lane keeping run being given the necessary steering wheel angle calculated by the Algebraic model as a control model.実路走行する車両にはカントと曲線によって生成される横力が作用する.その影響を表現する”相対カント”を定義してモデルに組込む.実車を模擬する4自由度モデルは適用限界が把握される.制御モデルとしての代数モデルがカントと曲率からハンドル角を算出,それを実車を模擬する4自由度モデルが受け車線維持走行する.


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  • Accession Number: 01670800
  • Record Type: Publication
  • Source Agency: Japan Science and Technology Agency (JST)
  • Files: TRIS, JSTAGE
  • Created Date: May 29 2018 4:03PM