紧急转向机动车辆控制误差预测

2019 12th International Workshop on Robot Motion and Control (RoMoCo) Pub Date : 2019-07-08 DOI:10.1109/RoMoCo.2019.8787383

Michal Schmidt, Daniel Töpfer, S. Schmidt

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引用次数: 2

摘要

本文提出了一种利用非线性优化方法从实际实验中估计被控系统模型误差的方法。将该方法应用于某自动驾驶汽车的紧急转向试验中。通过直接从现实世界的实验中估计潜在的模型误差，我们能够利用线性化反馈系统上的误差传播来预测车辆规避机动的横向误差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Predicting Vehicle Control Errors in Emergency Swerving Maneuvers

This paper presents a method to estimate the model error of a controlled system from real experiments using nonlinear optimization. The method is employed on an automated vehicle performing emergency swerving maneuvers in real driving tests. By estimating the underlying model error directly from real-world experiments we are able to predict the vehicles lateral error for evasive maneuvers using error propagation on the linearized feedback system.

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2019 12th International Workshop on Robot Motion and Control (RoMoCo)

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