Ackermann, Jürgen und Walter, Wolfgang und Bünte, Tilman (2004) Automatic Car Steering using Robust Unilateral Decoupling. In: Proceedings. Intern. Conf. on Advances in Vehicle Control and Safety, 2004-10-28 - 2004-10-31, Genoa (Italy).
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Kurzfassung
Abstract: In this paper a steering controller is derived using robust unilateral decoupling control. By this method automatic car steering can be split into two subtasks: a) good lane tracking of a point mass for stepwise change of the curvature of the lane reference and for lateral force disturbances and b) good yaw stabilization in the presence of yaw torque disturbances. In the design process the track following controller and the controller stabilizing the yaw rate are designed separately. A Daimler Benz City Bus O 305 used in the Prometheus program and a Pontiac 6000 STE Sedan used in the PATH program give the practical background. In the latter case with higher velocities gain scheduling by the velocity is used. Simulations for these two cars illustrate the advantages of the developed structure.
elib-URL des Eintrags: | https://elib.dlr.de/12198/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||
Zusätzliche Informationen: | LIDO-Berichtsjahr=2004, | ||||||||||||||||
Titel: | Automatic Car Steering using Robust Unilateral Decoupling | ||||||||||||||||
Autoren: |
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Datum: | Oktober 2004 | ||||||||||||||||
Erschienen in: | Proceedings | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | x | ||||||||||||||||
Veranstaltungstitel: | Intern. Conf. on Advances in Vehicle Control and Safety | ||||||||||||||||
Veranstaltungsort: | Genoa (Italy) | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 28 Oktober 2004 | ||||||||||||||||
Veranstaltungsende: | 31 Oktober 2004 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Verkehr | ||||||||||||||||
HGF - Programmthema: | V SH - Verbesserung der Sicherheit im Verkehr (alt) | ||||||||||||||||
DLR - Schwerpunkt: | Verkehr | ||||||||||||||||
DLR - Forschungsgebiet: | V SH - Verbesserung der Sicherheit im Verkehr | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | V - MetroFa (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||
Hinterlegt von: | DLR-Beauftragter, elib | ||||||||||||||||
Hinterlegt am: | 21 Feb 2006 | ||||||||||||||||
Letzte Änderung: | 24 Apr 2024 18:59 |
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