The problem of lateral control in intelligent vehicle trajectorytracking for automated highway system is studied. The article deduced the vehicle's desired yaw rate through real time planning virtual path between...
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ISBN:
(纸本)9781479947522
The problem of lateral control in intelligent vehicle trajectorytracking for automated highway system is studied. The article deduced the vehicle's desired yaw rate through real time planning virtual path between the vehicle mass center and prediction aiming point which is planned according to the vehicle's kinematic model and pose error model. based on the lateral dynamic model of vehicle, radical basis function (rbf) neuralnetworks basedslidingmodevariablestructuretrajectorytrackingcontroller is designed. A multi-body dynamics model of vehicle is built in ADAMS/Car. The interactive combination control dynamic simulation between Matlab/Simulink and ADAMS is realized through designing the data interface between Matlab and ADAMS. Simulations were conducted and the results show that the proposed algorithm improves the control precision of the system and improves the tracking performance of the system.
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