Automatic car steering control bridges over the driver reaction time
Automatic car steering control bridges over the driver reaction time
复制标题
自动汽车转向控制缩短了驾驶员的反应时间
作者：
J. Ackermann;T. Bünte
摘要：汽车驾驶员需要至少500毫秒的时间才能对意外的偏航运动做出反应。在此期间，不受控制的汽车可能会产生危险的偏航率和侧滑角。为抑制干扰而设计的自动转向控制是这样设计的：它跨越驾驶员的反应时间，但此后将完全转向权返回给驾驶员。对于路面与轮胎接触以及车辆质量和速度的不确定性，该解具有较强的鲁棒性。采用相似力学的方法对模型表示进行缩放。
Abstract: A car driver needs at least five hundred milliseconds before he can react to unexpected yaw motions. During this time the uncontrolled car may produce a dangerous yaw rate and sideslip angle. Automatic steering control for disturbance rejection is designed such that it bridges over the driver reaction time, but returns the full steering authority to the driver thereafter. The solution is robust with respect to uncertainties in the road-tire contact and in the mass and velocity of the vehicle. The model representation is scaled by methods of similarity mechanics.