Motion control of micro-scale electric vehicle by DYC considering lane marker information

Author

Raksincharoensak, Pongsathom ; Shino, Motoki ; Naga, Masao

Author_Institution

Dept. of Mech. Syst. Eng., Tokyo Univ. of Agric. & Technol., Japan

fYear

2004

fDate

25-28 March 2004

Firstpage

47

Lastpage

52

Abstract

This paper examines the feasibility of direct yaw moment control (DYC) in the context of driving assistance system. The lane marker information is acquired by CCD camera with image processing system and used in the design of vehicle motion control. The assist direct yaw moment required for vehicle control is generated by differential longitudinal forces between left and right tires. The resulting assist yaw moment controls the vehicle yaw rate in order to trace the desired yaw rate for tracking desired lane. Yaw moment controller design procedure is presented. The feasibility and capability of DYC as a driver assistance system are shown by computer simulations and experiments on micro-scale electric vehicle.

Keywords

CCD image sensors; control system synthesis; digital simulation; driver information systems; electric vehicles; image processing; intelligent control; motion control; road vehicles; vehicle dynamics; CCD camera; computer simulations; differential longitudinal forces; direct yaw moment control; driving assistance system; image processing system; intelligent control; lane marker information; microscale electric vehicle; tracking; vehicle dynamics; vehicle motion control; yaw moment controller design; Charge coupled devices; Charge-coupled image sensors; Control systems; Electric vehicles; Intelligent sensors; Motion control; Road vehicles; Vehicle driving; Vehicle dynamics; Vehicle safety;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on

Print_ISBN

0-7803-8300-1

Type

conf

DOI

10.1109/AMC.2004.1297639

Filename

1297639