车辆横向控制的理论与实验研究

1992 American Control Conference Pub Date : 1992-06-24 DOI:10.23919/ACC.1992.4792408

H. Peng, T. Hessburg, M. Tomizuka, Wei-bin Zhang, Ye Lin, P. Devlin, S. Shladover, A. Arai

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引用次数: 55

摘要

本文报道了整车横向控制的实验结果。测试了两种控制算法，一种是简单的PID控制器作为基准，另一种是最优预览控制器，用于提高系统的跟踪性能、平顺性和鲁棒性。简要讨论了理论发展和实验设置，并给出了一些实验结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Theoretical and Experimental Study on Vehicle Lateral Control

The results of an experimental work on the lateral control of a full-scaled vehicle are reported in this paper. Two control algorithms were tested, a simple PID controller to serve as the baseline, and an optimal preview controller, which was developed to improve the tracking performance, ride quality and robustness of the system. The theoretical development and the experimental setup are briefly discussed, followed by some experimental results.

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1992 American Control Conference

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