PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles. / Nentwig, Mirko; Mercorelli, Paolo.
12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program. Hrsg. / Anastasios G. Chassiakos. Elsevier B.V., 2009. S. 497-504 (IFAC Proceedings Volumes (IFAC-PapersOnline); Band 42, Nr. 15).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles
AU - Nentwig, Mirko
AU - Mercorelli, Paolo
N1 - Conference code: 12
PY - 2009
Y1 - 2009
N2 - This paper intends to give a contribution in the field of driver-assist and driversupport systems. In particular, the paper deals with an interface between a driver of a car and a desired velocity with a freely determinable desirable acceleration using a PD/PID-switching controller strategy. This strategy presents the advantage to be easy to implement it. As an operating element, for the control of the function, an usual gas pedal was used. The driver transmits with it his desired vehicle speed to the system. Beside the hard and software structure, it is necessary to develop some regulation functions. Within the scope of this elaboration, the development of these functions are described after the "V-model". Accordingly to this purpose, a model of the system to be regulated is provided at first. For it, a consideration of the transference limbs of the system is carried out at the beginning. Afterwards a basic model of the longitudinal dynamic is put up on the basis of the general tractive power equation as a non-linear state space model. On the basis of the provided model a linearized system is carried. Furthermore the transference behavior of the open chain is analyzed in a Bode diagram. Final validation of the developed functionality is carried out with computer simulations using real data.
AB - This paper intends to give a contribution in the field of driver-assist and driversupport systems. In particular, the paper deals with an interface between a driver of a car and a desired velocity with a freely determinable desirable acceleration using a PD/PID-switching controller strategy. This strategy presents the advantage to be easy to implement it. As an operating element, for the control of the function, an usual gas pedal was used. The driver transmits with it his desired vehicle speed to the system. Beside the hard and software structure, it is necessary to develop some regulation functions. Within the scope of this elaboration, the development of these functions are described after the "V-model". Accordingly to this purpose, a model of the system to be regulated is provided at first. For it, a consideration of the transference limbs of the system is carried out at the beginning. Afterwards a basic model of the longitudinal dynamic is put up on the basis of the general tractive power equation as a non-linear state space model. On the basis of the provided model a linearized system is carried. Furthermore the transference behavior of the open chain is analyzed in a Bode diagram. Final validation of the developed functionality is carried out with computer simulations using real data.
KW - PID controller
KW - Velocity control
KW - Basic models
KW - Gas pedals
KW - Human Machine Interface
KW - Linearized systems
KW - Longitudinal dynamics
KW - Nonlinear state
KW - Open chain
KW - PID controllers
KW - Regulation functions
KW - Software structures
KW - Tractive power
KW - V-model
KW - Vehicle speed
KW - Bode diagrams
KW - Computer simulation
KW - Man machine systems
KW - State space methods
KW - Controllers
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=79960946861&partnerID=8YFLogxK
U2 - 10.3182/20090902-3-US-2007.0101
DO - 10.3182/20090902-3-US-2007.0101
M3 - Article in conference proceedings
SN - 978-3-902661-50-0
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 497
EP - 504
BT - 12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program
A2 - Chassiakos, Anastasios G.
PB - Elsevier B.V.
T2 - 12th International Federation of Automatic Control Symposium on Transportaton Systems - IFAC2009
Y2 - 2 September 2009 through 4 September 2009
ER -