Citation

Amano M, Asai SA, Hattori Y, Ono E. Trans. Soc. Automot. Eng. Jpn. 2012; 43(1): 27-32.

Copyright

(Copyright © 2012, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.43.27

PMID

unavailable

Abstract

Our previous research showed that a simple look-ahead model containing single adjustable parameter "look-ahead time" can express not only bat' flight motions but also driver-operated vehicle motions with accuracy. In this research, we propose a new controller for lane-tracking based on the simple look-ahead model and give a theoretical interpretation of the proposed controller. First, we show that the proposed controller is equivalent to a controller composed of two parts: i) feed forward controller using desired course's curvature to reach at 1/3 look ahead time latter, ii) error feedback controller containing proportional gains parameterized by only "look-ahead time". Next, from the stability analysis of close loop system, we clarify how the parameter "look -ahead time" affects the vehicle motion of stability and error between desired course and vehicle trajectories.

Language: ja

Keywords

Bat; Biomimetic control; Driver behavior; Human engineering; Lane-keeping control