自動運転車両の操舵制御法に関する基礎的研究 : 前方注視・予見機能を有する走行軌跡制御系の設計

概要

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In this paper, a design method of trajectory control for automated vehicle system is proposed. Many articles have been published about this theme. However, in these studies, only lateral deviation models have been considered and the trajectory between straight road and curve road has not been specified clearly, On the other hand, in our study, we pay attention to this trajectory. We specify desired yawing motion to satisfy objectives (tracking to the desired trajectory, maintaining comfortability in riding, etc.) and construct a yawing motion control system. The yawing motion control system is synthesized by 2-degrees-of freedom control system and included in the preview control system. In the overall system, desired yawing motion and optimal preview time are calculated by the analysis of steady state of automated vehicle system. Finally the usefulness of the proposed control system is demonstrated by the numerical simulations.
1998-06-25