Adaptive longitudinal velocity and lane keeping control of four-wheel-steering vehicles

被引：0
|
作者：
Yoshida, Yuma [1 ]
Wang, Qiang [1 ]
Oya, Masahiro [1 ]
Okumura, Katsuhiro [2 ]
机构：
[1] Kyushu Inst Technol, Dept Mech & Control Engn, Fukuoka, Japan
[2] Fukuoka Ind Technol Ctr, Fukuoka 8070831, Japan
来源：
PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 | 2007年
关键词：
adaptive control; lane keeping; automatic steering control; longitudinal velocity; lateral velocity;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new adaptive longitudinal velocity and lane keeping control scheme for four-wheel-steering vehicles without measurement of lateral velocity is proposed. At first, a method to design ideal longitudinal velocities and ideal transient trajectories for relative lateral distance and relative yaw angle is shown. Then, an adaptive controller is developed so that the tracking error between actual vehicle and ideal trajectories become asymptotically stable. The developed controller doesn't require the measurement of lateral velocity of vehicles and the accurate knowledge of all vehicle parameters.
引用
收藏
页码：1301 / +
页数：2
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