Yaw

About: Yaw is a research topic. Over the lifetime, 5942 publications have been published within this topic receiving 68899 citations.

Frequency and velocity of rotational head perturbations during locomotion.

Abstract: We used the magnetic search coil technique to record horizontal (yaw) and vertical (pitch) head rotations of 20 normal subjects during (1) walking in place, (2) running in place, (3) vigorous, voluntary, horizontal head rotation and (4) vigorous, voluntary, vertical head rotation. During walking or running, the predominant frequency of pitch rotations was at least twice that of yaw rotations. During running, the median, predominant pitch frequency from all subjects was 3.2 Hz, but significant harmonics were present up to 15-20 Hz in several subjects. Group median maximal head velocity during walking or running did not exceed 90 degrees/ second. During vigorous, voluntary head rotations median frequency for yaw and pitch was similar and did not exceed 2.6 Hz. However, group median maximal head velocity during vigorous voluntary yaw rotation was 780 degrees/second. Thus, (1) during locomotion, the head is stabilized in space incompletely but adequately so that the vestibulo-ocular reflex (VOR) is not saturated, (2) during vigorous, voluntary head rotations, the maximum head velocity exceeds the range where the VOR can stabilize gaze, (3) the frequencies of head rotations that occur during locomotion greatly exceed frequencies conventionally used in the laboratory for testing the VOR.

Vehicle steering control system

Abstract: In a vehicle steering control system, an actuating torque is applied to steerable wheels according to a steering torque applied to a steering wheel in a conventional manner, and an additional actuating torque is applied to the steering wheel by an electric motor according to lateral dynamic conditions of the vehicle so as to control the lateral stability of the vehicle even in the presence of external interferences such as crosswind. Such external interferences are detected as a lateral dynamic condition of the vehicle such as the yaw rate of the vehicle, and the steering control system produces a steering reaction which counteracts such a lateral dynamic condition by applying the additional actuating torque to the steerable wheels so that the vehicle may maintain a straight course in spite of such external interferences without requiring any intentional efforts by the vehicle operator. In particular, by suppressing the additional actuating torque in an understeer condition, the handling of the vehicle can be improved.

Vehicle trajectory prediction based on motion model and maneuver recognition

Abstract: Predicting other traffic participants trajectories is a crucial task for an autonomous vehicle, in order to avoid collisions on its planned trajectory. It is also necessary for many Advanced Driver Assistance Systems, where the ego-vehicle's trajectory has to be predicted too. Even if trajectory prediction is not a deterministic task, it is possible to point out the most likely trajectory. This paper presents a new trajectory prediction method which combines a trajectory prediction based on Constant Yaw Rate and Acceleration motion model and a trajectory prediction based on maneuver recognition. It takes benefit on the accuracy of both predictions respectively a short-term and long-term. The defined Maneuver Recognition Module selects the current maneuver from a predefined set by comparing the center lines of the road's lanes to a local curvilinear model of the path of the vehicle. The overall approach was tested on prerecorded human real driving data and results show that the Maneuver Recognition Module has a high success rate and that the final trajectory prediction has a better accuracy.

Linear and nonlinear controller design for robust automatic steering

Abstract: For an automatic steering problem of a city bus the reference maneuvers and specifications are introduced. The robustness problem arises from large variations in velocity, mass, and road-tire contact. Two controller structures, both with feedback of the lateral displacement and the yaw rate, are introduced: a linear controller and a nonlinear controller. The controller parameters are first hand-tuned and then refined by performance vector optimization. Both controllers meet all specifications. Their relative merits are analyzed in simulations for four typical driving maneuvers. >