传感器和模型在车道变化控制过程中的有效性
Andrzej Dębowski1, Jakub Jan Faryński2, Dariusz Piotr Żardecki1
1Faculty of Mechanical Engineering, Military University of Technology, Gen. Sylwestra Kaliskiego 2, 00-908 Warsaw, Poland.
Sensors (Basel, Switzerland)
|July 11, 2023
概括
这项研究验证了传感器和车道更换控制器算法的模型. 灵敏度分析揭示了算法的优缺点,指导了未来的系统改进.
科学领域:
- 汽车工程 汽车工程
- 控制系统 控制系统
背景情况:
- 换车道的动作对于车辆动态和安全至关重要.
- 自动变轨控制器需要准确的传感器数据和强大的模型.
- 现有系统可能缺乏传感器模型集成的全面验证.
研究的目的:
- 为了证明传感器的有效性和变更车道控制器算法的衍生模型.
- 系统地呈现模型推导和传感器的作用.
- 评估开发算法的性能和局限性.
主要方法:
- 系统推导一个车辆动力学模型.
- 在控制算法中集成和验证传感器数据.
- 使用MATLAB和Simulink环境进行模拟.
- 闭环系统验证的初步测试.
- 敏感性分析以评估噪声和偏移影响.
主要成果:
- 证实了传感器的有效性和变轨控制器的衍生模型.
- 通过初步测试,证明了控制器在闭环系统中的必要性.
- 确定了算法的关于传感器噪声和偏移的特定优缺点.
结论:
- 开发的变化车道控制器,利用验证的传感器和模型,显示承诺.
- 灵敏度研究为提高算法的稳定性提供了关键的见解.
- 未来的研究应该专注于解决已识别的局限性,以提高系统性能.
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