著者

鈴木 元哉

出版者

一般社団法人 電気学会

雑誌

電気学会論文誌C(電子・情報・システム部門誌) (ISSN:03854221)

巻号頁・発行日

vol.142, no.8, pp.959-970, 2022-08-01 (Released:2022-08-01)

参考文献数

33

被引用文献数

2

---

Estimated response iterative tuning (ERIT) can updated the feedforward controller so as to realize desired closed-loop responses. If ERIT can be applied to vehicle yaw-rate control of automated vehicle, good autonomous driving can be realized. However, ERIT cannot realize desired control performance in the case where the control signal velocity is saturated. To solve this problem, I propose a new data-driven tuning method for vehicle yaw-rate control. Proposed method can update the feedforward controller by using estimation method of a closed-loop transfer function. Compared to ERIT, the proposed method can realize desired control performance even when the initial steering angle velocity is saturated. Furthermore, the proposed method can predict vehicle yaw-rate/steering angle velocity responses. The validity of proposed method is verified through vehicle simulators.