Research on Active Steering in Curve Driving Based on Trajectory Prediction
From the perspective of emulating human driver”s predictions,a novel cascade controller for curve driving is provided to realize automatic steering based on trajectory prediction.On the basis of road edge detection and path planning,a predicted point ob-tained by polynomial interpolation is introduced to predict trajectory and reduce influences of short sight distance in winding road.A PID control loop based on neutral-steering is adopted to obviate the disturbances with a high frequency as the vice loop,and then a model predictive controller is adopted to constraint lateral deviation and fluctuation as a main loop.The simulation results in a typical curve driv-ing show that the proposed control algorithm can make favourable tracking performance and promote stability in curve driving.
active steering curve driving trajectory prediction lateral control cascade control
Xia Hongyang Chen Jiqing Lan Fengchong Liu Zhaolin
Key Laboratory of Guangdong Province of Automotive Engineering,South China University of Technology
国内会议
上海
英文
92-96
2017-10-24（万方平台首次上网日期，不代表论文的发表时间）