Path-following Control for Front-steering Vehicles Based on Time-state Control Form Using Travel Distance as a Virtual Time-axis
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- OYAMA Kentaro
- Takenaka Corporation
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- SEKIGUCHI Kazuma
- Faculty of Engineering, Tokyo City University
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- NONAKA Kenichiro
- Faculty of Engineering, Tokyo City University
Bibliographic Information
- Other Title
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- 走行距離を時間軸とする時間軸状態制御形による車両の経路追従制御
- 走行距離を時間軸とする時間軸状態制御形による車両の経路追従制御 : モデル予測車庫入れ制御への適用
- ソウコウ キョリ オ ジカンジク ト スル ジカンジク ジョウタイ セイギョケイ ニ ヨル シャリョウ ノ ケイロ ツイジュウ セイギョ : モデル ヨソク シャコイレ セイギョ エ ノ テキヨウ
- —Applying to Model Predictive Parking Control—
- —モデル予測車庫入れ制御への適用—
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Abstract
In this paper, we propose a path-following control for front-steering vehicles based on time-state control form (TSCF) using travel distance as a virtual time-axis. The technique of TSCF can transform the nonlinear dynamics of front-steering vehicles into two linear subsystems. The proposed method uses a travel distance as a virtual time-axis based on geometric relationship between controlled vehicle and reference path. This method can realize path-following control independent of vehicle heading angle. In addition, we utilize the proposed method in model predictive parking control considering the constraints of vehicle steering angle, travel range and singular point. This method can realize parking control in the area larger than the conventional method. The performance of proposed method is verified through numerical simulations and experiments with a one-tenth scale model car.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 50 (10), 746-754, 2014
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390282679484517760
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- NII Article ID
- 130004699662
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 025867608
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed