کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5002728 1368457 2016 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
What Preview Elements do Drivers Need?
ترجمه فارسی عنوان
چه عناصر پیش نمایش آیا رانندگان نیاز دارند؟
کلمات کلیدی
کنترل دستی، کنترل پیش نمایش بهینه، مدل راننده سایبرنتیک، عملکرد انسانی،
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
چکیده انگلیسی
Driving is a tracking task with preview as has been recognized since the 60s. Subsequent research to model human curve negotiation divides into two camps. One in which a limited number of points in the future (generally one or two) are used to guide lane keeping control on straight and curved roads and another that uses optimal preview control (OPC) to characterize human control behavior. The former is too simplistic as it cannot accurately handle curve entry and exit with a single preview and gain setting (i.e. non situation adaptive) and the latter is arguably too computationally intense for a human to adopt (but not unreasonable to converge to over time). This paper shows theoretically that by selecting two preview points strategically related to vehicle dynamics for near preview point and striking a balance between curve cutting on entry, curve overshoot on exit, and smooth control throughout for the far preview point, two-point-controllers approach the performance of a full optimal preview controller. The difference between the reference full OPC and two-point-controllers lies mainly in the fact that the three phases of curve negotiation (entry, within, and exit) require different previews and gains which only the OPC is capable of.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 19, 2016, Pages 102-107
نویسندگان
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