An automotive lateral controller based on generalized predictive control theory
An automotive lateral controller based on generalized predictive control theory
- New search for: Horiuchi, S.
- New search for: Tamatsukuri, T.
- New search for: Nohtomi, S.
- New search for: Horiuchi, S.
- New search for: Tamatsukuri, T.
- New search for: Nohtomi, S.
This paper proposes a new design method of a lane tracking control system based on Generalized Predictive Control theory. The proposed system realizes the preview control without the 'perfect measurement' assumption. A series of computer simulations and frequency domain analyses were carried out to show the validity of the proposed control system. In comparison with a lane tracking system using preview LQI control algorithm, it is shown that this controller achieves good lateral tracking performance and improved ride quality due to small variations of lateral acceleration.
Document information
An automotive lateral controller based on generalized predictive control theory
Ein Spurführungssystem auf der Basis der Theorie verallgemeinerter prädiktiver Regler
JSAE Review ; 21 , 1 ; 53-59
2000
7 Seiten, 9 Bilder, 2 Tabellen, 7 Quellen
Article (Journal)
English
Algorithmus , Fahrstraße , Fahrverhalten , Frequenzbereich , Frequenzbereichsanalyse , Frequenzgang , Pkw (Personenkraftwagen) , Prädiktivregler , Rechnersimulation , Regelungsentwurf , Regelungsmodell , Regelungssimulation , Regelungssystementwurf , Regelungstheorie , Spur , Zeitverhalten , Spurführung
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