Reset control with sector confinement for a lane change maneuver

被引：0

作者：

Falcon, Pablo ^{[1
]}

Cerdeira, Miguel ^{[1
]}

Delgado, Emma ^{[1
]}

Diaz-Cacho, Miguel ^{[1
]}

Luis Camano, Jose ^{[1
]}

Barreiro, Antonio ^{[1
]}

机构：

[1] Univ Vigo, Sch Ind Engn, Dept Syst Engn & Automat, Vigo, Spain

来源：

45TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2019) | 2019年

关键词：

Lane change maneuver; autonomous driving; control reset; optimal reset; sector confinement; STEERING CONTROL; SYSTEMS; PERFORMANCE; DESIGN; MODEL;

D O I：

暂无

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

The new features that are being added today in cars for assisted or autonomous driving tasks require a specific study that allows these tasks to be performed efficiently. Among these tasks, in this work the application of advanced control methods for the lane change maneuver is studied, obtaining better results than the classic methods which are inherently limited to fundamental limitations of the linear systems. An application of the reset method based on the linear confinement of trajectories is presented, which allows to reduce the error to zero quickly. This method is compared by simulation with another reset control method, the reset control with optimal reset. And then, the method is validate in CarSim.

引用

页码：521 / 526

页数：6

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