To bridge the gap between autonomous and normal steering during low lateral acceleration maneuvers, a steering-wheel torque controller is developed. It consists of three controllers in series, a high-gain feedback steering-wheel torque controller, a nonlinear steering-angle controller, and a linear yaw-rate controller. A validated two degrees of freedom steering-system model, in combination with a single-track vehicle model, is used to determine the controller parameters. Driving tests with different drivers have been executed to find a comfortable steering-wheel torque/angle relation. This relation is maintained throughout the lane change by specifying the steering-wheel torque as a function of the steering-wheel angle tracking error. Experiments show promising results regarding the driver/vehicle interaction, but also show that a system to detect the lanes and the vehicle position on the road is required for further improvement.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Automated Lane Changing With a Controlled Steering-Wheel Feedback Torque for Low Lateral Acceleration Purposes


    Beteiligte:
    Loof, Jan (Autor:in) / Besselink, Igo (Autor:in) / Nijmeijer, Henk (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2019-12-01


    Format / Umfang :

    3458239 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Yaw Rate and Lateral Acceleration Feedback for Four-Wheel Steering [9438204]

    Ackermann, J. / Society of Automotive Engineers of Japan | British Library Conference Proceedings | 1994


    Research on Lateral Acceleration of Lane Changing

    Sun, Wensheng / Wang, Shufeng | Springer Verlag | 2019


    STEER-BY-WIRE STEERING SYSTEM WITH ACCELERATION DEPENDENT STEERING TORQUE FEEDBACK

    WATANABE YOSHINOBU / HANJI MUNETSUGU / KAKAS PÉTER et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    STEER-BY-WIRE STEERING SYSTEM WITH ACCELERATION DEPENDENT STEERING TORQUE FEEDBACK

    WATANABE YOSHINOBU / HANJI MUNETSUGU / KAKAS PÉTER et al. | Europäisches Patentamt | 2023

    Freier Zugriff