PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles
Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review
Authors
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.
| Original language | English |
|---|---|
| Title of host publication | 12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program |
| Editors | Anastasios G. Chassiakos |
| Number of pages | 8 |
| Publisher | Elsevier B.V. |
| Publication date | 2009 |
| Pages | 497-504 |
| ISBN (print) | 978-3-902661-50-0 |
| DOIs | |
| Publication status | Published - 2009 |
| Externally published | Yes |
| Event | 12th International Federation of Automatic Control Symposium on Transportaton Systems - IFAC2009 - Redondo Beach, United States Duration: 02.09.2009 → 04.09.2009 Conference number: 12 |
- PID controller, Velocity control, Basic models, Gas pedals, Human Machine Interface, Linearized systems, Longitudinal dynamics, Nonlinear state, Open chain, PID controllers, Regulation functions, Software structures, Tractive power, V-model, Vehicle speed, Bode diagrams, Computer simulation, Man machine systems, State space methods, Controllers
- Engineering