Investigations of coordinating the conflict between the driver and a lane keeping assist controller
碩士 === 國立臺灣科技大學 === 機械工程系 === 96 === This thesis is investigation of coordinating the conflict between the driver and a lane keeping assist controller. A robust model reference adaptive control that can compensate the model uncertainty for system is applied to the design of vehicle steering assist....
| Main Authors: | , |
|---|---|
| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2008
|
| Online Access: | http://ndltd.ncl.edu.tw/handle/29696626939157359719 |
| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 96 === This thesis is investigation of coordinating the conflict between the driver and a lane keeping assist controller. A robust model reference adaptive control that can compensate the model uncertainty for system is applied to the design of vehicle steering assist. The controller includes a compensate input to counteract the effect of the model uncertainty, and can enhance the robustness to prevent the conflict. Then design a control weighting shifter to prevent the conflict when the driver and the controller’s desired path were different. Preliminary simulation and experiments study indicates that these designs successfully prevent the conflict.
|
|---|