✦ LIBER ✦

9732252 Automatic path tracking using linear quadratic control theory - control method for a straight path : Hiroshi Mouri, Hiroyuki Furusho (Nissan Motor. Co., Ltd.)

Publisher: Elsevier Science
Year: 1998
Tongue: English
Weight: 136 KB
Volume: 19
Category: Article
ISSN: 0389-4304
DOI: 10.1016/s0389-4304(98)90311-3

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✦ Synopsis

control performance evaluation, we clarified the input/output characteristics of the brake booster with which the driver will experience minimal discomfort during booster control. We adopted the auxiliary variable pressure chamber type construction for the brake booster. This construction minimizes the volume of required airflow, which in turn allows the use of a compact solenoid valve and eliminates the need for a release switch. As a result, we realized a system that provides a high level of fail-safe performance.

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When an automated vehicle is travelling along a curved path, the yaw rate and yaw angle do not have values of zero. This means that it is impossible to apply a simple regulator that converges the values of all state variables to zero. This paper describes the use of a set point regulator, which appl