Autoreg 2019最新文献

{"title":"Vorsteuerungsentwurf fur einen robusten Zwei-Freiheitsgrade Schlupfregler fur Antiblockiersysteme","authors":"P. Vogt, Stanislaw Schulze, E. Lenz, A. Klug, Helge Westerfeld, U. Konigorski","doi":"10.51202/9783181023495-209","DOIUrl":"https://doi.org/10.51202/9783181023495-209","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133043902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Complete Concept for Combined Longitudinal and Lateral Trajectory Planning for Automated Driving on Highways","authors":"Jeremias Schucker, T. Kohlmann, U. Konigorski","doi":"10.51202/9783181023495-259","DOIUrl":"https://doi.org/10.51202/9783181023495-259","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116264623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Simulation-Based Reinforcement Learning Approach for Long-Term Maneuver Planning in Highway Traffic Scenarios","authors":"David Augustin, Jeremias Schucker, Jeremy Tschirner, Marius Hofmann, U. Konigorski","doi":"10.51202/9783181023495-47","DOIUrl":"https://doi.org/10.51202/9783181023495-47","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125367961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Gain-Scheduling-Regelung des Ladedrucks eines Ottomotors auf Basis lokal linearer strukturierter H∞-optimaler Regler – Systematische robuste Bedatung einer konventionellen Reglerstruktur","authors":"F. Nolteernsting, R. Röthig, T. Oehlschlägel, M. Schultalbers, U. Becker","doi":"10.51202/9783181023495-389","DOIUrl":"https://doi.org/10.51202/9783181023495-389","url":null,"abstract":"Boost pressure control is an important part of the control of modern gasoline engines. The implementation of modern control schemes for this nonlinear system has been subject of scientific publications for years. In contrast, state of the art for serial operation is a relatively simple gain-scheduling structure based on PID controllers and stationary feedforward control. This paper presents a concept for controlling boost pressure which is suitable for series production and its experimental evaluation on a test bench. The applied control structure corresponds largely to the state of the art, though the feedforward control was significantly simplified and an anti-windup concept for systematic consideration of manipulated variable saturations was supplemented. The systematic model-based procedure used for H 1 -optimal design of structured operating point controllers should be noted. Using H 1 -optimal controllers enables a priori inclusion of quantitative requirements for the behavior of the resulting local control loops during the design process. The underlying controller design procedure allows linear controllers of any structure. Thereby H 1 -optimal parameterization of control structures being in use and accepted by application-oriented en-gineers becomes possible. The calculation of controller parameters is done reliably by solving non-convex and non-smooth optimization problems using published methods. The mathematical system descriptions required for the model-based controller design are obtained by identifying linear time-invariant setpoint systems. Experimental results clearly show the performance of the proposed control concept in comparison to a conventionally parameterized boost pressure control. In contrast to the conventional procedure for parameterization based on expert knowledge and road tests, the design process presented is characterized by a structured, methodical and theoretically sound procedure. The resulting design process is largely automated and significantly reduces resource and time requirements.","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115661047","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simulation von Hybrid-Nutzfahrzeugen mittels akausaler Optimierung der Betriebsstrategie","authors":"M. Greule, Y. Stoermer","doi":"10.51202/9783181023495-429","DOIUrl":"https://doi.org/10.51202/9783181023495-429","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123865113","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Echtzeitfahige Trajektoriengenerierung fur hochautomatisierte und autonome Fahrzeuge bei Zustands- und Stellgrosenbeschrankungen","authors":"Steffen Joos, Roktim Bruder, Thomas Specker, M. Bitzer, Knut Graichen","doi":"10.51202/9783181023495-285","DOIUrl":"https://doi.org/10.51202/9783181023495-285","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124886841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Generic Sensor Modelling – A Virtual Integration Approach for the Test of ADAS","authors":"A. Prinz, L. Brabetz, M. Ayeb","doi":"10.51202/9783181023495-21","DOIUrl":"https://doi.org/10.51202/9783181023495-21","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"92 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116076931","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimalsteuerung des Energieflusses in einem 48V-Bordnetz schwerer Nutzfahrzeuge","authors":"M. Dellermann, O. Gehring, O. Zirn","doi":"10.51202/9783181023495-453","DOIUrl":"https://doi.org/10.51202/9783181023495-453","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128490898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Elektrifizierung des Antriebsstrangs: Einsatz und Nutzen einer analytischen Radkraftverteilung in uberaktuierten Elektrofahrzeugen","authors":"Jan-Erik Moseberg","doi":"10.51202/9783181023495-441","DOIUrl":"https://doi.org/10.51202/9783181023495-441","url":null,"abstract":"","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134016401","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Learning-Based Path Following Control for an Over-Actuated Robotic Vehicle","authors":"J. Ultsch, J. Brembeck, R. Castro","doi":"10.51202/9783181023495-25","DOIUrl":"https://doi.org/10.51202/9783181023495-25","url":null,"abstract":"Motion control, in particular path following control (PFC), is an important function of autonomous vehicles. PFC controls the propulsion, steering and braking such that the vehicle follows a parametric path and reference velocity. For the design of traditional modelbased PFC approaches a sufficiently accurate synthesis model of the vehicle has to be available in order to design a performant controller. However, constructing, parametrizing and testing these model-based PFC as well as deriving the synthesis model is known to be a time-consuming task. Recently the application of reinforcement learning (RL) methods to solve control problems without a synthesis model but based on high fidelity simulation models has gained increasing interest. In this paper we investigate the application of RL methods to solve the path following problem for DLR’s ROboMObil, an over-actuated robotic vehicle. Simulation results demonstrate that the RL-based PFC exhibits similar tracking performance as a model-based controller, executed on the path used for training. Moreover the RL-based PFC provides encouraging generalization capabilities, when facing unseen reference paths.","PeriodicalId":238858,"journal":{"name":"Autoreg 2019","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130867841","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}