2021年8月
経路の道幅を考慮した状態フィードバック型経路追従制御則の設計
計測自動制御学会論文集
- ,
- ,
- 巻
- 57
- 号
- 8
- 開始ページ
- 349
- 終了ページ
- 357
- 記述言語
- 日本語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.9746/sicetr.57.349
- 出版者・発行元
- 公益社団法人 計測自動制御学会
<p>In this study, we propose a path-following control method based on the state feedback law. In recent years, automated driving which attracts attention requires various element technologies, and among them, path following control to follow the target path is one of the most important elemental technologies. In previous study, a method was proposed that gave a constraint that makes the following error asymptotically zero. However, if the target path has a road width, the tracking error does not have to be zero. In this paper, a reference value for the tracking error is designed as a function of the vehicle state and other factors. The effectiveness of the proposed method was validated by numerical simulations and showed better performance than previous studies.</p>
- リンク情報
- ID情報
-
- DOI : 10.9746/sicetr.57.349
- ISSN : 0453-4654
- J-Global ID : 202102210228179233
- CiNii Articles ID : 130008076435
- CiNii Books ID : AN00072392