Citation

Yoshimoto T, Fukao T, Yokokohji Y, Ino H, Matsumoto T. Trans. Soc. Automot. Eng. Jpn. 2016; 47(4): 997-1002.

Copyright

(Copyright © 2016, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.47.997

PMID

unavailable

Abstract

Both ride comfort and following performance are important for passengers who are in a car. However, there is a trade-off between the two in automatic steering control of automobiles because ride comfort requires slow response and following performance requires quick response. In this paper, a new automatic steering control method is proposed to improve the trade-off by applying nonlinear weight functions to the lateral position error and the yaw angle error of automatic steering control. Consequently, the efficiency of the proposed method is confirmed by simulations and actual vehicle experiments.

Language: ja

Keywords

Autonomous land system/autonomous driving system; Control system/software; Electronics and control; Path Following Control; Robotics