Cooperative steering system based on vehicle sideslip angle estimation from side acceleration data at percussion centers
Cooperative steering system based on vehicle sideslip angle estimation from side acceleration data at percussion centers
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DOI：
10.1109/ivec.2001.961730
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发表时间：
2001-09
期刊：
影响因子：
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通讯作者：
T. Hiraoka;H. Kumamoto;O. Nishihara;K. Tenmoku
中科院分区：
文献类型：
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作者：
T. Hiraoka;H. Kumamoto;O. Nishihara;K. Tenmoku
本文考虑如何手动转向计划可以与自动转向的合作转向系统，产生更好的稳定性，以及路径跟踪能力相结合。提出了一种新的版本的组合的基础上，在打击中心相对于后轮的航向误差微分方程。自动转向包括车辆侧偏角的反馈，这是很难通过普通设备测量。提出了一种自适应估计方案来反馈侧滑角。驾驶模拟器实验表明，良好的估计和良好的性能的合作转向系统。
This paper considers how a manual steering scheme can be combined with automatic steering for a cooperative steering system which yields better stability, together with path following capability. A new version of the combination is proposed based on a course error differential equation at a percussion center with respect to rear-wheels. The automatic steering includes the feedback of vehicle sideslip angle which is difficult to measure by an ordinary device. An adaptive estimation scheme is proposed to feedback the sideslip angle. Driving simulator experiments demonstrate good estimates and good performance of the cooperative steering system.