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基于频率成形的控制框架,用于减少自动驾驶汽车的运动病.

Soomin Lee1, Chunhwan Lee2, Chulwoo Moon2

  • 1Department of Future Mobility Convergence, Chonnam National University, Gwangju 61186, Republic of Korea.

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概括
此摘要是机器生成的。

这项研究开发了一种新的控制策略,以减少电动自动驾驶汽车 (EAV) 的运动病. 该方法通过在自动驾驶过程中降低运动恶心剂量值 (MSDV) 来显著提高驾驶舒适度.

关键词:
自动驾驶汽车是一种自动驾驶汽车.带式停止波器的波器.运动性 motion sickness 运动性 motion sickness 运动性 motion sickness 运动性 motion sickness 运动性 motion sickness 运动性 motion sickness 运动性 motion sickness在路上跟随路径.舒适的骑行舒适的骑行

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科学领域:

  • 汽车工程 汽车工程
  • 控制系统 控制系统
  • 人类因素 人类因素

背景情况:

  • 运动病是自动驾驶汽车乘客舒适度的一个重大挑战.
  • 现有的控制策略往往不能充分解决引发运动恶心的频率.
  • 电动自动驾驶汽车 (EAV) 对驾驶舒适性提出了独特的控制挑战.

研究的目的:

  • 引入和评估一种新的控制策略,以减少EAV的运动病.
  • 为了提高整体驾驶舒适度和乘客在自动驾驶中的体验.
  • 为了保持强大的路径跟踪性能,同时减轻运动恶心.

主要方法:

  • 根据运动性疾病剂量值 (MSDV) 分析 (ISO 2631-1) 对横向控制的前视距离进行自适应调整.
  • 应用线性二次调节器 (LQR) 最佳控制以最大限度地减少纵向加速.
  • 实施带停止波器,以减弱加速信号中的引发运动疾病的频率.

主要成果:

  • 显著减少MSDV从16.3到10.46,改善高达35.8%.
  • 有效地减轻横向加速及其与运动疾病相关的频率组件.
  • 在沿途任务中保持一致的车道坚持,尽管横向位置错误略有增加.

结论:

  • 拟议的控制策略有效地减少了EAV的运动病.
  • 该方法提供了一种有前途的方法,可以提高驾驶舒适度,而不会影响基本的驾驶性能.
  • 这项研究有助于开发更适合乘客的自动驾驶汽车.