避碰车辆自动转向非线性轨迹跟踪控制

2006 American Control Conference Pub Date : 2006-06-14 DOI:10.1109/ACC.2006.1657656

M. Schorn, U. Stählin, A. Khanafer, R. Isermann

{"title":"避碰车辆自动转向非线性轨迹跟踪控制","authors":"M. Schorn, U. Stählin, A. Khanafer, R. Isermann","doi":"10.1109/ACC.2006.1657656","DOIUrl":null,"url":null,"abstract":"A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown","PeriodicalId":265903,"journal":{"name":"2006 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2006-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"42","resultStr":"{\"title\":\"Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle\",\"authors\":\"M. Schorn, U. Stählin, A. Khanafer, R. Isermann\",\"doi\":\"10.1109/ACC.2006.1657656\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown\",\"PeriodicalId\":265903,\"journal\":{\"name\":\"2006 American Control Conference\",\"volume\":\"22 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2006-06-14\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"42\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2006 American Control Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACC.2006.1657656\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2006 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2006.1657656","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 42

摘要

研制了一种避碰汽车驾驶员辅助系统。可以使用制动、转向或转向和制动的组合来避免碰撞。本文只讨论转向干预措施。提出了两种反馈控制方法，以使车辆在紧急转向时沿期望轨迹运行。提出了一种基于卡尔曼滤波的车辆状态估计方法来估计侧滑角。给出了经过验证的非线性双轨模型的仿真结果和试车结果

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Nonlinear trajectory following control for automatic steering of a collision avoiding vehicle

A collision avoiding vehicle driver assistance system is developed. Collisions can be avoided using braking, steering or a combination of steering and braking. Within this paper only steering interventions are discussed. To guide the vehicle on a desired trajectory for emergency steering, two feedback control approaches are presented. A Kalman filter based vehicle state estimation approach to estimate the sideslip angle is shown. Simulation results with a validated nonlinear two-track model and results from test drives are shown

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2006 American Control Conference

自引率

0.00%

发文量