Modelling and Comparison of Man-Machine Driving on an ADVANCE-F Vehicle.
Date Issued
1995
Date
1995
Author(s)
張堂賢
Abstract
本文描述ADVANCE-F計畫之側向控制暨方向盤控制之技術,並說明人機駕駛間的比較。ADVANCE-F是一項智慧車路系統,發展目的在改善台灣公路交通安全,提升交通品質及容量的擴充。在首階段的工作,即發展計算機輔助駕駛系統,使車輛能不需把方向盤卻可自動保持在即定的標線之車道上,而不致偏離。頻譜型線性二次控制模式即被用來設計此系統,以符合追蹤精準、穩健及乘座品質。從電腦模擬之結果知此模式的控制器不管是人機轉換、有刮風、或是在彎道上,從時速0kph到120kph均能表現令人滿意。目前吾人實現係用「飛羚」在做公路場試,整個表現都十分滿意。我們發現車速愈高愈穩定,比人駕駛還準確。另外,此系統能克服載重不均、方向盤有單向偏轉或吃輪現象、及偵測標線之光電感測器裝設偏差等事件。本文最後描述了人機轉換介面和其設計。
This paper describes the lateral control (or steering control technique) of the project ADVANCE-F and the comparison between man and machine on handling a car. ADVANCE-F is one of intelligent vehicle/highway systems, which is being promoted to upgrade Taiwan's highway traffic quality and transportation quantity. In the first stage, the project aims to develop a computer-aided driving system, which can keep the vehicle with automatic steering function running in a specially material-marked lane without manual steering. The frequency-shaped linear quadratic control model is utilized to design the system for meeting requirements involved in tracking precision, robustness, and ride quality by properly choosing the weighting factors. From the simulation results revealed that the controller performed satisfactorily under a variety of situations including wind gust disturbance, transition curve, and man-machine switching in a wide-speed range from 0kph to 120kph. It was implemented with a test car named 'Feeling', and showed satisfactory on field experiment. We find that the system is really as stable as speeding up and better than manual operation. Furthermore, it can overcome the deficiencies such as unbalancing loading, missing alignment, inaccurate installation of sensors and detectors. Also, the transition interface between manual and automatic operation is illustrated.
Subjects
車輛自動控制
轉向控制
智慧車路系統
人機駕駛行為
Automatic vehicle control
Steering control
Intelligent vehicle highway system
Man-machine driving behavior
SDGs
Description
行政院國科會
Type
report
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