| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 104 === This research proposes a modularized control structure combined with vehicle automatic driving and active safety control technique. This turns out to be a complete vehicle lane keeping control system with tire anti-slip function. For vehicle automatic driving, the vehicle dynamic model combined with look-ahead system is used for designing controllers which are model predictive controller (MPC) and robust H controller to stabilize the vehicle during lane keeping maneuvers. For active safety control strategy, an unscented Kalman filter based tire and vehicle states estimator is used to provide more information to tire anti-slip function block. The nonlinear vehicle model which is more accurate but much complex can be applied to linear Kalman filter through unscented transform without losing its accuracy. The longitudinal anti-slip function uses the estimate results and tire-road maximum friction coefficient from the communication module to distribute the total tire torque command form lane keeping controller to four individual tires. For lateral anti-slip function, the linear boundary of tire sideslip angle with different tire-road maximum friction coefficient is obtained based on semi-empirical tire model as known as magic formula. Every linear boundary of tire sideslip angle has its corresponding maximum speed boundary which is obtained through analyzing the static and dynamic model of tire sideslip angle. Then, the speed boundary will be sent to lane keeping controller as a reference speed signal. Thus, two modules of systems are connected via the speed control scheme. Ultimately, this research uses speed control and steering adjustment to prevent the tire from slipping at lateral axis.
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