LANE-TRACKING CONTROL PERFORMANCE OF FOUR-WHEEL-STEERING AUTOMOBILE

机译：四轮转向汽车的车道跟踪控制性能

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This paper investigates the use of four-wheel-steering system for the control of vehicle, in the context of automatic lane-tracking. In this paper, the lane-tracking control system is designed on the basis of the four-wheel-steering automobile whose desired steering response is realized by the application of model matching control. Using simplified linear 2 degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-tracking control performance of active four-wheel-steering automobiles which have different desired steering response. A comparative study clearly reveals their advantages in lane-tracking performance.

机译：本文研究了在自动车道跟踪中使用四轮转向系统控制车辆的情况。本文在四轮转向汽车的基础上设计了车道跟踪控制系统，通过模型匹配控制的应用实现了期望的转向响应。使用简化的线性2自由度自行车模型，进行了仿真研究和理论分析，以评估具有不同期望转向响应的主动四轮转向汽车的车道跟踪控制性能。一项比较研究清楚地表明了它们在车道跟踪性能方面的优势。

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来源
《Proceedings of the 15th IFAC World Congress: International Federation of Automatic Control》|2003年|p.385-390|共6页
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Pongsathorn Raksincharoensak; Hiroshi Mouri; Masao Nagai;
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正文语种
中图分类自动化技术、计算机技术;
关键词
automobiles; four-wheel-steering; autonomous vehicles; vehicle dynamics; model-following control; optimal control; linear quadratic regulators; kalman filters;

机译：汽车;四轮转向;自动驾驶汽车;车辆动力学;模型跟随控制;最佳控制;线性二次调节器;卡尔曼滤波器;

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LANE-TRACKING CONTROL PERFORMANCE OF FOUR-WHEEL-STEERING AUTOMOBILE

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