Reduction of preview distance in lane-keeping control
Reduction of preview distance in lane-keeping control
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DOI：
10.1007/s12239-017-0073-x
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发表时间：
2017-05
影响因子：
1.6
通讯作者：
Keisuke Kazama;K. Nishizaki;Yuta Shirayama;Hiroyuki Furusho;H. Mouri
中科院分区：
文献类型：
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作者：
Keisuke Kazama;K. Nishizaki;Yuta Shirayama;Hiroyuki Furusho;H. Mouri
车道标记检测是车道保持控制算法中不可缺少的一部分。然而，当车辆正在行驶的车道的曲率较大时或者当车辆前方有另一辆车距离较短时，不可能检测到车道标记。对于车道标记检测，期望将预览点设置为靠近车辆。因此，通过分析人-车系统的框图，提出了一种在不降低车道跟踪性能的前提下，通过将预瞄点由传统的一点增加到两点来减小预瞄距离的方法。通过增加预瞄点，可实现无稳态偏差的沿曲率恒定的弯道沿着行驶，并可任意设计跟踪动态特性。
Lane marker detection is indispensable for a lane-keeping-control algorithm. However, it is impossible to detect lane markers when the curvature of the lane the vehicle is travelling on is large or when there is another car in front of the vehicle with short distance. For lane marker detection, it is desirable to set a preview point close to the vehicle. Therefore, by analyzing the block diagram of driver-vehicle system, we propose a method to reduce preview distance without lane tracking performance deterioration by increasing preview points from the conventional one point to two points. Furthermore, it is revealed that driving along a corner with constant curvature without steady-state deviation and arbitrary design of tracking dynamic characteristics become possible by increasing preview points.