Car model corresponding to longitudinal direction center of gravity position error of linear single-track model on slope

カテゴリ: 部門大会

論文No: SS2-7

グループ名: 【C】2019年電気学会電子・情報・システム部門大会プログラム

発行日: 2019/08/28

タイトル(英語): Car model corresponding to longitudinal direction center of gravity position error of linear single-track model on slope

著者名: 山内 陽平(広島市立大学),齊藤 充行(広島市立大学),小野 貴彦(広島市立大学)

著者名(英語): Yohei Yamauchi|Mitsuyuki Saito|Takahiko Ono

キーワード: Car Model|Autonomous Driving|Center of Gravity Position Error|Neural Network|SlopeFront Wheel Steering Angle

要約(日本語): Automatic driving system requires simple and accurate car model that can accurately represent the state of the car and has a less calculation processing. We have proposed a simple and accurate car model that represents the center of gravity position error due to various non-linear characteristics during turning as a deviation of the front wheel angle based on the linear car model. However, this car model may not be able to sufficiently compensate the longitudinal direction center of gravity position error in situations such as slopes. We propose a simple and accurate car model that included not only the turning direction of the car also the nonlinear characteristics in the longitudinal direction. The effectiveness of the car model is shown in numerical simulation on slope with CarSim.

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