(汽车运动与控制)Chapter 2.pdf

Chapter 2 LATERAL VEHICLE DYNAMICS The first section in this chapter provides a review of several types of lateral control systems that are currently under development by automotive manufacturers and researchers. The subsequent sections in the chapter study kinematic and dynamic models for lateral vehicle motion. Control system design for lateral vehicle applications is studied later in Chapter 3. LATERAL SYSTEMS UNDER COMMERCIAL DEVELOPMENT Lane departures are the number one cause of fatal accidents in the United States, and account for more than 39% of crash-related fatalities. Reports by the National Highway Transportation Safety Administration (NHTSA) state that as many as 1,575,000 accidents annually are caused by distracted drivers - a large percentage of which can be attributed to unintended lane departures. Lane departures are also identified by NHTSA as a major cause of rollover incidents involving sport utility vehicles (SUVs) and light trucks (). Three types of lateral systems have been developed in the automotive industry that address lane departure accidents: lane departure warning systems (LDWS), lane keeping systems (LKS) and yaw stability control systems. A significant amount of research is also being conducted by university researchers on these types of systems. 16 Chapter 2 2.1.1 Lane departure warning A lane departure warning (LDW) system is a system that monitors the vehicles position with respect to the lane and provides warning if the vehicle is about to leave the lane. An example of a commercial LDW system under development is the AutoVue LDW system by Iteris, Inc. shown in Figure 2-