A Driving Assist System for Path Tracking via Active Rear-wheel Steering

被引：0

作者：

Hong, Yufeng ^{[1
]}

Li, Junqiu ^{[1
]}

Wang, Weichen ^{[1
]}

Chen, Jianwen ^{[2
]}

Wei, Ruichuan ^{[1
]}

机构：

[1] Beijing Inst Technol, Collaborat Innovat Ctr Elect Vehicles Beijing, Beijing 100081, Peoples R China

[2] JIANGLU Machinery & Elect Grp Co LTD, Xiaogtan 411199, Peoples R China

来源：

PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年

关键词：

Active rear-wheel steering; Shared control; Model-predictive control; Path tracking;

D O I：

10.1109/CCDC52312.2021.9602571

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, we propose a framework for shared control to assist driving by using an active rear-wheel steering system. In this framework, the active rear-wheel steering is used to correct improper operation and improve driving performance on path tracking for the driver. An adaptive model-predictive control (AMPC) method is adopted to balance the tracking performance and the influence of unnecessary intervention from the controller. We describe the solution of the rear wheel angle as an optimization problem in a moving horizon, which enables the rear-wheel system to provide timely help without excessive intervention.

引用

页码：1104 / 1109

页数：6

共 9 条

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