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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

Standard

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. ed. / Anastasios G. Chassiakos. Elsevier B.V., 2009. p. 497-504 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 42, No. 15).

Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

Harvard

Nentwig, M & Mercorelli, P 2009, PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles. in AG Chassiakos (ed.), 12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program. IFAC Proceedings Volumes (IFAC-PapersOnline), no. 15, vol. 42, Elsevier B.V., pp. 497-504, 12th International Federation of Automatic Control Symposium on Transportaton Systems - IFAC2009, Redondo Beach, United States, 02.09.09. https://doi.org/10.3182/20090902-3-US-2007.0101

APA

Nentwig, M., & Mercorelli, P. (2009). PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles. In A. G. Chassiakos (Ed.), 12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program (pp. 497-504). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 42, No. 15). Elsevier B.V.. https://doi.org/10.3182/20090902-3-US-2007.0101

Vancouver

Nentwig M, Mercorelli P. PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles. In Chassiakos AG, editor, 12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program. Elsevier B.V. 2009. p. 497-504. (IFAC Proceedings Volumes (IFAC-PapersOnline); 15). doi: 10.3182/20090902-3-US-2007.0101

Bibtex

@inbook{65d28c4b33d648a2b69f1309ecebce01,
title = "PD/PID-switching control as a human-machine interface for a semi-autonomous driver in automobiles",
abstract = "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.",
keywords = "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",
author = "Mirko Nentwig and Paolo Mercorelli",
note = "Conference code: 85831 Export Date: 22 May 2012 Source: Scopus doi: 10.3182/20090902-3-US-2007.0101 Language of Original Document: English Correspondence Address: Nentwig, M.; Department of Vehicle Technique, Robert-Koch-Platz 8-a., 38440 Wolfsburg, Germany; email: m.nentwig@fh-wolfsburg.de References: http://www-fars.nhtsa.dot.gov, National Highway Traffic Safety Administration, National Center for Statistics and AnalysisChowanietz, E., Automobile electronics in the 1990s; Part2: Chassis electronics (1995) Electronics and Communication Engineering Journal, pp. 53-58. , April; Unyelioglu, K.A., Ozguner, U., Hissong, T., Winkelman, J., Wheel torque proportioning, rear steering, and normal force control: A structural investigation (1997) IEEE Transactions on Automatic Control, 42 (818), p. 803. , June; Esmailzadeh, E., Goodarzi, A., Vossoughi, G., Optimal yaw moment control law for improved vehicle handling (2003) Mechatronics*, 13 (7), pp. 659-675; (1982) Verordnung 70/220/EEC Anlage 2, , ECC, EU-publisher Sponsors: IFAC Technical Committee on Transportation Systems TC 7.4; 12th International Federation of Automatic Control Symposium on Transportaton Systems - IFAC2009, IFAC2009 ; Conference date: 02-09-2009 Through 04-09-2009",
year = "2009",
doi = "10.3182/20090902-3-US-2007.0101",
language = "English",
isbn = "978-3-902661-50-0",
series = "IFAC Proceedings Volumes (IFAC-PapersOnline)",
publisher = "Elsevier B.V.",
number = "15",
pages = "497--504",
editor = "Chassiakos, {Anastasios G.}",
booktitle = "12th IFAC Symposium on Transpotaton Systems, CT'09 - Final Program",
address = "Netherlands",

}

RIS

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 -

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Research output: Contributions to collected editions/works › Article in conference proceedings › Research › peer-review

DOI