曲線路の障害物回避ドライバモデルに関する研究(機械力学,計測,自動制御)

概要

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This paper presents driver models for a vehicle avoidance maneuver in cornering. The models are based on a preview driver model which has either a compensation control or a pursuit control. The preview point is detected by a variation of the present radius which is equivalent to a third-order prediction model, including a centrifugal jerk. The unknown control gains in the models are determined by an optimization program based on a Legendre pseudospectral method. A second-order prediction model, commonly used in cornering analysis, is compared to numerical examples. For the compensation model, the Proportional-Integral (PI) control results in a steering angle with two distinct behavior clearly: 1) steady-state cornering due to the Integral (I) control and 2) transient response due to the Proportional (P) control. The pursuit control has a sufficient response when the steering angle for the steady-state cornering is provided via feed forward control, even if the P control is used for the compensator.
社団法人日本機械学会の論文
2006-08-25