@article{ref1,
title="Theoretical analysis of lane-tracking control based on a bat's flight model",
journal="Transactions of Society of Automotive Engineers of Japan",
year="2012",
author="Amano, Masateru and Asai, Shoji Asai and Hattori, Yoshikazu and Ono, Eiichi",
volume="43",
number="1",
pages="27-32",
abstract="Our previous research showed that a simple look-ahead model containing single adjustable parameter &quot;look-ahead time&quot; 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 &quot;look-ahead time&quot;. Next, from the stability analysis of close loop system, we clarify how the parameter &quot;look -ahead time&quot; affects the vehicle motion of stability and error between desired course and vehicle trajectories.<p /><p>Language: ja</p>",
language="ja",
issn="0287-8321",
doi="10.11351/jsaeronbun.43.27",
url="http://dx.doi.org/10.11351/jsaeronbun.43.27"
}