Automatic steering control of vehicle lateral motion with the effect of roll dynamics

Kai-Ten Feng, Han Shue Tan, Masayoshi Tomizuka

研究成果: Conference contribution同行評審

35 引文 斯高帕斯(Scopus)

摘要

The two dominant motions of automatic vehicle steering control are yaw and lateral motion. A two degree-of-freedom(DOF) model commonly used to describe these motions is called the bicycle model. Experimental results for certain vehicles, however, show the lowered gain characteristics in the lateral acceleration response to the steering input. This is attributed to suspension dynamics. In this paper, a 3 DOF linear model, which incorporate the suspension roll mode, is developed and verified against the experimental data. The H theory is applied to the bicycle model and the 3 DOF model for synthesis of robust steering controllers. The simulation results indicate the importance of the effect of roll dynamics to steering controller design.

原文English
主出版物標題Proceedings of the 1998 American Control Conference, ACC 1998
頁面2248-2252
頁數5
DOIs
出版狀態Published - 1 十二月 1998
事件1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
持續時間: 24 六月 199826 六月 1998

出版系列

名字Proceedings of the American Control Conference
4
ISSN(列印)0743-1619

Conference

Conference1998 American Control Conference, ACC 1998
國家United States
城市Philadelphia, PA
期間24/06/9826/06/98

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