自動車車両諸元の不確かさを考慮した自動操舵制御系の設計 [in Japanese] Automated Steering Control Systems Design for Passenger Vehicle in Consideration of Vehicle Parameters' Uncertainties [in Japanese]
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Advanced safety vehicle (ASV) assists drivers' manipulations to avoid traffic accidents. In this paper, a control system for ASV is designed to avoid obstacles using an automated steering system. The control system is based on a visual feedback and the system model is built in consideration of dynamics of the lane and vehicle using an LFT description. The controller is designed by μ-synthesis such that the control system is robust against uncertainties for vehicle parameters. The performance of the designed control system is examined by numerical experiments for obstacle avoidance.
- IEEJ Transactions on Industry Applications
IEEJ Transactions on Industry Applications 122(6), 652-658, 2002-06-01
The Institute of Electrical Engineers of Japan