TY - GEN
T1 - Model-based vehicle trajectory and its properties for automatic steering systems
AU - Zhao, Xijun
AU - Hong, Tao
AU - Chen, Huiyan
PY - 2011
Y1 - 2011
N2 - The nonlinear vehicle dynamic model which considers three degrees of freedom of vehicle motion, longitudinal, lateral and yaw was established. For the automatic steering of intelligent vehicles, however, longitudinal dynamic is not taken into consideration, thus, a reduced two DOF model is obtained which regards longitudinal velocity as time variant state of vehicle. According to such a two degrees time variant nonlinear model, a novel model-based vehicle trajectory is proposed. This model considers longitudinal velocity and front wheel steering angle as inputs and vehicle lateral dynamic states (lateral velocity and yaw rate) as outputs. This model is validated using real vehicle testing data. Based on the equations of vehicle model and trajectory, the properties of the vehicle trajectory are analyzed in detail. Finally, the proposed methods and properties are validated through comparison of experiment and simulation studies.
AB - The nonlinear vehicle dynamic model which considers three degrees of freedom of vehicle motion, longitudinal, lateral and yaw was established. For the automatic steering of intelligent vehicles, however, longitudinal dynamic is not taken into consideration, thus, a reduced two DOF model is obtained which regards longitudinal velocity as time variant state of vehicle. According to such a two degrees time variant nonlinear model, a novel model-based vehicle trajectory is proposed. This model considers longitudinal velocity and front wheel steering angle as inputs and vehicle lateral dynamic states (lateral velocity and yaw rate) as outputs. This model is validated using real vehicle testing data. Based on the equations of vehicle model and trajectory, the properties of the vehicle trajectory are analyzed in detail. Finally, the proposed methods and properties are validated through comparison of experiment and simulation studies.
KW - Automatic steering
KW - G -path
KW - Vehicle trajectory
UR - http://www.scopus.com/inward/record.url?scp=84863014986&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-21747-0_109
DO - 10.1007/978-3-642-21747-0_109
M3 - Conference contribution
AN - SCOPUS:84863014986
SN - 9783642217463
T3 - Lecture Notes in Electrical Engineering
SP - 845
EP - 851
BT - Electrical Power Systems and Computers - Selected Papers from the 2011 International Conference on Electric and Electronics, EEIC 2011
T2 - 2011 International Conference on Electric and Electronics, EEIC 2011
Y2 - 20 June 2011 through 22 June 2011
ER -
