知識庫

Implementation of Phase Lead Controller for Lane Following System based on Identified Vehicle Lateral Model (基於側向車輛識別模型進行相位超前控制器設計之車道跟隨系統)
  • 發布年度:2017
  • 主要類別:駕駛輔助
  • 次要類別:論文
  • 本論文針對車輛側向模型進行參數識別,並應用識別結果進行車道跟隨控制器設計,控制器採用相位超前控制器來實現,並比較應用相位超前控制器與比例控制器來實現車道跟隨控制方法之結果,經結果比較,採用相位超前控制器之車道跟隨效果較佳。

    Abstract—Vehicle lateral controllers are general designed based on a simplified lateral model, known as bicycle model. However, some of parameters of the bicycle model are difficult to estimate accurately such as cornering stiffness and moment of inertia. Furthermore, some expensive sensors are required for estimating these parameters such as GPS/inertial sensors, wheel force transducers. The paper studies a practical method for identifying lateral model and a phase lead controller implemented in a real vehicle is designed based on the identified model. The identified lateral model is in the form of a discrete-time transfer function, which is conducive to practical identification and digital controller design. The transfer function is derived from a bicycle model. The input and the output of the transfer function are the steering wheel angle and the lateral offset at a look-ahead distance respectively. The data for identification are provided by the electric power steering system and the lane detection system using a camera without the requirement of expensive sensors. The feedback signal of the controller is also based on the lane detection system. The identified model is validated successfully by the experimental data. The phase lead controller is carried out in a real vehicle and experiment results show that the phase lead controller works well.
    Keywords—Lane following system; identified vehicle lateral model; phase lead controller; electric power steering