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您的检索式：作者名="Dianbo Ren"
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| 1 | Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road显示文摘The lateral control for lane changing of intelligent vehicle on curved road in automatic highway systems was studied. Based on trapezoidal acceleration profile, considering the curvature difference between starting lane and target lane, a new virtual trajectory planning method for lane changing on curved road was presented, and the calculating formulas for ideal states of vehicle in the inertial coordinate system during a lane changing maneuver were established. Applying the predetermined trajectory, the reference yaw angle and yaw rate for lane changing were generated. On the assumption that the information on yaw rate of vehicle can be measured with on-board sensors and based on the lateral dynamical model of vehicle, the yaw-rate-tracking control law was designed by applying nonsingular terminal sliding mode technology. Based on Lyapunov function method, the finite-time convergence property of the system was obtained from the phase-plane analysis. Simulation results showed that if the curvature difference between starting lane and target lane was not considered, then at the finishing time of lane changing, it was impossible to avoid the deviation of the virtual trajectory panned from the target lane, which increased with the decrease of curvature radius. With the trajectory planning method and yaw rate-tracking control law proposed in this paper and considering the curvature difference between the starting lane and target lane, the desired virtual trajectory for lane changing without deviation was obtained and the expected tracking performance was also verified by the simulation. | REN DianBo ZHANG JiYe ZHANG JingMing CUI ShengMin | 2011 | Science China(Technological Sciences)2011，54，3： | 25 |
| 2 | Direct adaptive control for lane keeping in intelligent vehicle systems显示文摘 | ZHANG Jingming REN Dianbo CUI Shengmin | 2009 | Journal of Harbin Institute of Technology2009，6，16： | 1 |
| 3 | Reference Modelof Desired Yaw Anglefor Automated Lane Changing Behavior of Vehicle显示文摘In this paper,it studies the problem of trajectory planning and tracking for lane changing behavior of vehicle in automatic highway systems. Based on the model of yaw angle acceleration with positive and negative trapezoid constraint,by analyzing the variation laws of yaw motion of vehicle during a lane changing maneuver,the reference model of desired yaw angle and yaw rate for lane changing is generated. According to the yaw angle model,the vertical and horizontal coordinates of trajectory for vehicle lane change are calculated. Assuming that the road curvature is a constant,the difference and associations between two scenarios are analyzed,the lane changing maneuvers occurred on curve road and straight road,respectively. On this basis,it deduces the calculation method of desired yaw angle for lane changing on circular road. Simulation result shows that,it is different from traditional lateral acceleration planning method with the trapezoid constraint,by applying the trapezoidal yaw acceleration reference model proposed in this paper, the resulting expected yaw angular acceleration is continuous,and the step tracking for steering angle is not needed to implement. Due to the desired yaw model is direct designed based on the variation laws of raw movement of vehicle during a lane changing maneuver, rather than indirectly calculated from the trajectory model for lane changing, the calculation steps are simplified. | Dianbo Ren Guanzhe Zhang Hangzhe Wu | 2016 | Journal of Harbin Institute of Technology(New Series)2016，23，1： | 0 |
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