Investigation of automatic path tracking control using four-wheel steering vehicle

被引：0
|
作者：
Raksincharoensak, P [1 ]
Nagai, M [1 ]
Mouri, H [1 ]
机构：
[1] Tokyo Univ Agr & Technol, Koganei, Tokyo 1848588, Japan
来源：
IVEC 2001: PROCEEDINGS OF THE IEEE INTERNATIONAL VEHICLE ELECTRONICS CONFERENCE | 2002年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper investigates the use of four-wheel steering system for the control of vehicle, in the context of automatic path tracking. Four-wheel steering system provides two independent control inputs which can much enhance handling and stability. In this paper, the lateral deviation at front and rear virtual points are proposed to be state variables in control system design procedure instead of lateral deviation at center of gravity and yaw deviation in order to decouple lateral and yaw motion during path tracking maneuver. Finally, simulations in straight and curved path tracking are conducted to investigate the validity of the proposed control system.
引用
收藏
页码：73 / 77
页数：5
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