机械与电子2017，Vol.35Issue(7)：52-55,59,5.
关于道路几何特性的纵横向控制循迹模型
On the Tracking Model of Longitudinal and Lateral Control Based on Road Geometric Characteristics
摘要
Abstract
Focusing on the tracking control problem of vehicles,this paper studies a human-like longitudinal and lateral control model.By analyzing the road geometric characteristics,an ideal speed model was firstly put forward based on the road curvature and width.Then,the driver model based on lateral acceleration feedback was established,and the mismatch problem of the gain of lateral acceleration was considered.Finally,the computing method of lateral tracking error for arbitrary roads was proposed,which could be used as the evaluation index of path tracking performance.关键词
道路几何特性/纵向控制/加速度反馈/循迹误差Key words
road geometric characteristics/longitudinal control/acceleration feedback/tracking error分类
交通工程引用本文复制引用
曹竞玮,张卫华,韩鹏,杨蔡进..关于道路几何特性的纵横向控制循迹模型[J].机械与电子,2017,35(7):52-55,59,5.基金项目
牵引动力国家重点实验室重点课题(2016TPL_Z01) （2016TPL_Z01）
西华大学四川省部级开放课题(SZJJ2015-049) （SZJJ2015-049）
