考虑驾驶意图的人机协同规划和共享控制

李自立,周兵,刘阳毅,柴天,干年妃,崔庆佳

Human-machine collaborative planning and shared control considering driving intention

Zili LI,Bing ZHOU,Yangyi LIU,Tian CHAI,Nianfei GAN,Qingjia CUI

图 6 轮胎侧向力模型局部线性化

Fig.6 Local linearization of tire lateral force model