制御入力速度飽和した初期実験データによるビークルのデータ駆動予測型制御器調整

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2022/08/01

タイトル(英語): Controller Tuning Based on Data-Driven Prediction of Vehicle by Using the Initial Experiment Data in the case where Rate of Control signal is Saturated

著者名: 鈴木　元哉（電気通信大学 大学院情報理工学研究科）

著者名(英語): Motoya Suzuki (Graduate School of Informatics and Engineering, The University of Elector-communications)

キーワード: データ駆動制御，データ駆動予測，自動運転_x000D_　　data-driven control，data-driven prediction，autonomous-driving

要約(英語): Estimated response iterative tuning (ERIT) can updated the feedforward controller so as to realize desired closed-loop responses. If ERIT can be applied to vehicle yaw-rate control of automated vehicle, good autonomous driving can be realized. However, ERIT cannot realize desired control performance in the case where the control signal velocity is saturated. To solve this problem, I propose a new data-driven tuning method for vehicle yaw-rate control. Proposed method can update the feedforward controller by using estimation method of a closed-loop transfer function. Compared to ERIT, the proposed method can realize desired control performance even when the initial steering angle velocity is saturated. Furthermore, the proposed method can predict vehicle yaw-rate/steering angle velocity responses. The validity of proposed method is verified through vehicle simulators.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.142 No.8 （2022） 特集Ⅰ：Smart Cityのためのセンシング/モビリティ/情報通信技術　特集Ⅱ：サステナブル社会実現に向けた情報・システム技術

本誌掲載ページ: 959-970 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/142/8/142_959/_article/-char/ja/