G1010103 予測制御を用いた目標軌道なしで駐車位置へ導入する車両操舵制御([G101-01]機械力学・計測制御一般セッション(1))

Abstract

This paper presents vehicle steering control for target parking states - position and direction - by predictive control without target trajectory. One of the major issues is to asymptotic steering angle toward zero at the same time that vehicle converges target parking states. In order to achieve them, the predictive control that minimizes difference between target and predicted postions when some of the future steering angle is assumed as zero is applied. Simulation results when the initial states of the vehicle are defined at random are presented to demostrate the effectiveness of this control.