自动驾驶电动助力转向自动化外文文献翻译、中英文翻译、外文翻译.docVIP

英文文献原文 Electric Power Steering Automation for Autonomous Driving J. E. Naranjo, C. González, R. García, T. de Pedro Instituto de Automática Industrial (CSIC) Ctra. Campo Real Km. 0,200, La Poveda, Arganda del Rey, Madrid 28500, Spain {jnaranjo, gonzalez, ricardo, tere}@iai.csic.es Abstract. The automatic control of a vehicle’s steering wheel is now one of the most important challenges in the Intelligent Transportation Systems field. In this paper, we present a fuzzy logic-based automatic steering control system for mass-produced electric power steering (EPS) wheel-equipped vehicles that assures human-like behavior. In the literature, we find a lot of theoretical proposals and some simulations, but only a few work teams offer real solutions for this task. One such solution is the work developed by the Autopia Program in which some vehicles have been automated and can perform some maneuvers mimicking human reactions. In this paper, we use the EPS of a Citro?n C3 Pluriel to effect the car’s behavior. The actuator is controlled from an onboard computer housing a fuzzy logic-based autonomous steering system. The vehicle’s internal computers generate the input information, which is read by a CAN bus and a high precision GPS. Some experiments using this equipment on a private test circuit are presented, obtaining an human-like behavior in all the maneuvers. 1 Introduction The development of Intelligent Transportation Systems (ITS) provides an opportunity to apply advanced technology to systems and methods of transport for efficient, comfortable and safer means of transport. Our work focuses on the area of road transport, and more specifically on the field of intelligent vehicles, which includes the topic of autonomous vehicles. This topic refers to vehicles that are equipped with the instrumentation and intelligence needed to provide the actual vehicle with the required service, that is, an autonomous car must control some or all of its functions without external in