期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

车道保持系统的车辆状态预测模型 被引量：3

Model Based on States Preview for Lane Keeping System
下载PDF
导出
摘要 针对目前车道保持系统中车速变化较大时,被控车辆偏移量较大的问题,通过状态预测方法,设计了用于单目视觉车道保持系统的状态预测模型。单目摄像头识别预瞄点处车-路偏差,考虑车辆经过预瞄时间后的状态变化量,设计基于车辆状态的预瞄点处车-路偏差模型。通过仿真与实车试验验证,说明提出的车辆预测模型能够准确预测出预瞄点处的车-路偏差,减小预测模型误差,提高车道保持系统控制精度和准确性,一般工况下,能够使车-路偏移量控制在10cm以下。与目前采用的简化车路偏差模型相比较,能够提高被控车辆对于车道中心线的跟随性能。 To deal with the large offsets when the vehicle speed largely changes in lane keeping system, a vehicle lateral control model was designed based on states preview. Using the car-road deviation detected by monocular camera and the state variation after preview time, the car-road deviation model has been design at preview point. Simulation experiments and the real vehicle tests showed that by using the proposed model, lane keeping system could predict the preview of car-road deviation accurately, decrease preview model error. In general conditions, it could enable vehicles road offset control to maintain control within 10 cm. The algorithm could improve precision and accuracy of lane keeping control system, and improve the performance of follow the road centerline with the current model.
作者 杨志强 谭彧
机构地区 中国农业大学工学院
出处 《农业机械学报》 EI CAS CSCD 北大核心 2008年第10期25-29,共5页 Transactions of the Chinese Society for Agricultural Machinery
关键词 车道保持系统 预测模型 横向动力学模型 转向机构 Lane keeping system, Prediction model, Lateral dynamics model, Steeringmechanism
分类号 U461.91 [机械工程—车辆工程]
  • 相关文献

参考文献12

  • 1Masuda H, Hirosima Y. Development of daihatsu ASV2[C]//Proceedings of the IEEE. Intelligent Vehicles Symposium. USA: IEEE Press, 2000 : 708- 713.
  • 2Peng Huei, Tomizuka M. Lateral control of front-wheel-steering rubber-tire vehicles [C]//Path Program. Program on Advanced Technology for the Highway. USA: Path Program Press, 1990: 6-25.
  • 3Peng Huei, Zhang Weibin, Arai A. Experimental automatic lateral control system for an automobile[C]//Path Program. PATH Report. USA: Path Program Press, 1992:4-32.
  • 4Broggi A, Bertozzi M, Fascioli A. The argo autonomous vehicle's vision and Control systems [J ]. International Journal of Intelligent Control and Systems, 1999, 3(4):409-441.
  • 5Broggi A, Bertozzi M, Fascioli A. The 2 000 km test of the ARGO vision-based autonomous vehicle[J]. International Journal of Intelligent Control and Systems, 1999, 14 ( 1 ) : 55 - 64.
  • 6Pomerleau D. Rapidly adapting lateral position handler[C]//Proceedings of the IEEE. Intelligent Vehicles Symposium. USA.. IEEE Press, 1995 : 506- 511.
  • 7Maurer M, Behringer R, Thomanek F, et al. A compact vision system for road vehicle guidance[ C] // Proceedings of the IEEE Computer Society. Proceedings of the 13th International Conference on Pattern Recognition. Austria: IEEE Press, 1996:313-317.
  • 8郭孔辉.预瞄跟随理论与人-车闭环系统大角度操纵运动仿真[J].汽车工程,1992,14(1):1-11. 被引量：36
  • 9郭孔辉.驾驶员-汽车闭环系统操纵运动的预瞄最优曲率模型.汽车工程,1984,(4).
  • 10管欣,高振海,郭孔辉.驾驶员稳态预瞄动态校正假说[J].汽车工程,2003,25(3):227-231. 被引量：18

二级参考文献15

  • 1Guo Konghui and Guan Hsin. Modeling of Driver/Vehicle Directional Control System. Vehicle System Dynamics, 1993, (22).
  • 2AUe, R Wade et al. Driver/Vehicle Modeling and Simulation. SAE Technical Paper Series 2002 - 01 - 1568.
  • 3Wolfgang Dick and Michael Holle.Entwicklung einer Ueberlagerungslenkung.ATZ,2003(5)
  • 4Philip Koehn.Die Aktivlenkung:Das Fahrdynamische Lenksystem Des Neuen 5er.Sonderausgabe von ATZ und MTZ:BMW 5er 2003.
  • 5Martin Schuster.Die Aktivlenkung Des Neuen BMW 3er:Einfach Besser Fahren.Sonderausgabe von ATZ und MTZ:BMW 5er 2003.
  • 6Wolfgang Rieger.Aktivlenkung fuer active Sicherheit.Sonderausgabe von ATZ und MTZ:ZF Lenksystem 2004.
  • 7徐正会等.车辆可变齿轮比转向系统之创新设计.台湾第19届机械工程研讨会论文.
  • 8Takahiro Kojo.Development of Front Steering Control System AVEC 2002.
  • 9Yuji Hisaoka.A Study on Desirable Steering Response and Steering Torque for driver's Feeling AVEC 1996.
  • 10Goetz Baumgarten.Die Entwicklung Der Stabilisierungsfunktion Fuer Die Aktivlenkung.ATZ,2004 (9)

共引文献151

同被引文献29

  • 1韩京清.自抗扰控制技术-估计补偿不确定因素的控制技术[M].北京:国防工业出版社,2009.
  • 2EIICHI O, YOSHIKAZU H, YUJI M. Estimation of tire friction circle and vehicle dynamics integrated control for four-wheel distributed steering and four- wheel distributed traction/braking systems [J]. R&D Review of Toyota CRDL, 2005, 40(4): 7-13.
  • 3WANG J M. Coordinated and reconfigurable vehicle dynamics control [D]. Austin, USA: The University of Texas, 2007.
  • 4WANG J M, LONGORIA, R G. Combined tire slip and slip angle tracking control for advanced vehicle dynamics control systems[C]//Conference on Decision and Control, 13-15 Dec. 2006,San Diego, CA, USA. [S.I.]: IEEE, 2006: 1733-1738.
  • 5ZHUANG D J, LIU J, YU F, et al. Study and evaluation of driver vehicle system with fractional order PDμ controller [C] // International Conference on Vehicular Electronics and Safety, 13-15 Dec. 2006, Shanghai, China. [S. I. ] IEEE, 2006: 434-439.
  • 6GAO Z H, JIANG L Y. Optimal preview trajectory decision model of lane-keeping system with driver behavior simulation and Artificial Potential Field[C]// Intelligent Vehicles Symposium, 3-5 June 2009, Xi'an, China. [S.I.]: IEEE, 2009: 797-801.
  • 7CHATZIKOMIS C I, SPENTZAS K N. A path following driver model with longitudinal and lateral control of vehicle ' s motion [ J/OL ]. Forsch Ingenieurwes, Springer-Verlag (2009) 73: 257-266.
  • 8KATSUMI M. Autonomous steering control for electric vehicles using nonlinear state feedback H∞ control [J]. Nonlinear Analysis, Theory, Methods and Applications, 2005, 63(5 -7): 2257 -2268.
  • 9GAO Z Q. Scaling and bandwidth-parameterization based controller tuning [C]//Proceedings of the 2003 American Control Conference, Evanston, IL, USA: IEEE Press, 2003: 4989-4996.
  • 10Huang S J, Lin G Y. Parallel auto-parking of a model ve- hicle using a self organizing fuzzy controller [J]. Proceed- ings of the Institution of Mechanical Engineers ( Part D) : Journal of Automobile Engineering,2010,224 (8) :997-1012.

引证文献3

二级引证文献9

农业机械学报
2008年 第10期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部