| Autor: |
Changhua Dai, Changfu Zong, Dong Zhang, Hongyu Zheng, Chuyo Kaku, Dingheng Wang, Kai Zhao |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
World Electric Vehicle Journal, Vol 15, Iss 5, p 198 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2032-6653 |
| DOI: |
10.3390/wevj15050198 |
| Popis: |
It is essential and forward-thinking to investigate the personalized use of four-wheel driving and steering wire-controlled unmanned chassis. This paper introduces a personalized path-tracking approach designed to adapt the vehicle’s control system to human-like characteristics, enhancing the fit and maximizing the potential of the chassis’ multi-directional driving and steering capabilities. By modifying the classic vehicle motion controller design, this approach aligns with individual driving habits, significantly improving upon traditional path-tracking control methods that rely solely on reference vector fields. First, the classic reference vector field’s logic was expanded upon, and it is shown that a personalized upgrade is feasible. Then, driving behavior data from multiple drivers were collected using a driving simulator. The fuzzy c-means clustering method was used to categorize drivers based on typical states that match vehicle path-tracking performance. Additionally, the random forest algorithm was used as the method for recognizing driving style. Subsequently, a personalized path-tracking control strategy based on the reference vector field was developed and a distributed execution architecture for four-wheel driving and steering wire-controlled unmanned chassis was established. Finally, the proposed personalized path-tracking approach was validated using a driving simulator. The results of the experimental tests demonstrated that the personalized path-tracking control approach not only fits well with various driving styles but also delivers high accuracy in driving style identification, making it highly suitable for application in four-wheel driving and steering wire-controlled chassis. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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