Development of a Full Speed Range Path-following System for the Autonomous Vehicle

被引：0

作者：

Kim, Chang-il ^{[1
]}

Kim, Moon-sik ^{[1
]}

Lee, Kwang-soo ^{[1
]}

Jang, Hyung-Soo ^{[2
]}

Park, Tae-Seok ^{[2
]}

机构：

[1] Korea Automot Technol Inst, Vehicle Autonomous Driving Technol R&D Ctr, Cheonan 330912, South Korea

[2] Ssangyong Motor Co, Elect Integrated Dev Team, Pyeongtaek 469711, South Korea

来源：

2015 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2015年

关键词：

Autonomous Vehicle; Lateral Control; Path-following; Lane Centering; DESIGN;

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, the full-speed range path following system is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model parameter error, the proposed system is designed according to the back-stepping control algorithm. In order to have control performance in full speed range, both kinematic and dynamic model is used, and to avoid the frequent transition between kinematic and dynamic based control mode, the hysteresis characteristics is applied. The performance of the proposed algorithm is evaluated by simulation and real-car test in the proving ground with 1km straight road and 30m radius curved road.

引用

页码：710 / 715

页数：6

共 6 条

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