Robust lateral control of cars : Towards a reduction of pessimism and an easy trade-off between performance, comfort and robustness

被引：0

作者：

Mustaki, Simon ^{[1
,2
]}

Chevrel, Philippe ^{[1
]}

Yagoubi, Mohamed ^{[1
]}

Fauvel, Francois ^{[2
]}

Kvieska, Pedro ^{[2
]}

机构：

[1] UBL, LS2N Lab, IMT Atlantique, F-44307 Nantes, France

[2] Renault SAS, 1 Ave Golf, F-78280 Guyancourt, France

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 05期

关键词：

Automotive Control; Active Safety and Driver Assistance Systems; Lane Centering Assistance; Plant Modelling and System Identification; Model-based Calibration; STABILITY;

D O I：

10.1016/j.ifacol.2019.09.032

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a methodology to design a Lane Centering Assistance (LCA) system. It proposes an original approach to deal with the large parametric uncertainties encountered by automotive design engineers. Indeed, the same controller is supposed to be used for a specific vehicle regardless its configuration (tire, load, motorization, etc.). The methodology consists in a gradual insertion of the designers expertise in order to reduce as much as possible the inherent pessimism of a multi-model design approach. It also proposes some direct parameters to easily adjust the sought trade-off between performance (low lateral error) and driving feeling (jerks). The proposed design process is validated by high-fidelity simulations using complete nonlinear vehicle models. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：197 / 204

页数：8

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