Automated steering control for the intelligent multimode transit system
Automated steering control for the intelligent multimode transit system
复制标题
智能多模式交通系统的自动转向控制
DOI：
10.1109/ivs.2000.898412
复制
发表时间：
2000
期刊：
影响因子：
--
通讯作者：
T. Suzuki
中科院分区：
文献类型：
--
作者：
M. Aso;T. Suzuki
我们开发了智能多模式公交系统（IMTS），作为一种新的交通系统，它使用自动驾驶公交车的排队。本文介绍了IMTS自动化客车的转向控制。实验结果表明，所设计的前馈控制器和线性二次型积分反馈控制器在弯道和直道上均具有良好的车道跟驰性能。前馈转向角和反馈控制器的期望状态通过使用道路几何形状、车辆特性和速度来计算，假设车辆的稳态转弯。车辆使用的道路几何地图是根据道路的设计构建的。反馈的状态变量估计的混合卡尔曼滤波器。混合卡尔曼滤波器提供了准确的估计，即使在低速时使用离散的参考标记的车辆的横向偏差的测量。
We develop the intelligent multimode transit system (IMTS), as a new transit system, which uses platooning of automated driving buses. This paper describes the steering control of an automated bus for IMTS. It is confirmed in the experiments that the feedforward controller and the linear quadratic integral feedback controller designed have good performance of lane following both on a curve and a straight course. The feedforward steering angle and the desired states of the feedback controller are calculated by using road geometry, vehicle characteristics and velocity, assuming steady state turning of the vehicle. The road geometry map used by the vehicle is constructed according to the design of the road. The state variables for feedback are estimated by means of a hybrid Kalman filter. The hybrid Kalman filter provides accurate estimation at low speed even when using discrete reference markers for the measurement of vehicle's lateral deviation.