This paper addresses lane keeping control of a vehicle at the limit of handling. The control approach allows steering share between the controller and the driver. Handling limits are mainly due to tire forces saturation which are modelled using sector nonlinearity procedure. Forward speed variation is also taken into account through polytopic modeling. Driver activity, namely the torque, is considered during the design procedure in order to provide progressive assistance intrusion. All these aspects put together lead to a Takagi-Sugeno model. A controller is finally synthesized under a static output feedback gain with constrained structure. The obtained controller is tested under lane keeping maneuvers.
Driver co-pilote for vehicle lateral control at handling limits
2015-04-01
1463208 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
INTEGRATED DRIVER CO-PILOTE APPROACH FOR VEHICLE LATERAL CONTROL
British Library Conference Proceedings | 2014
|A lateral driver model for vehicle-driver closed-loop simulation at the limits of handling
Kraftfahrwesen | 2015
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Online Contents | 2015
|A lateral driver model for vehicle–driver closed-loop simulation at the limits of handling
Taylor & Francis Verlag | 2015
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