In this paper, a new lane keeping control scheme for combination vehicles using trailer wheel steering and front and rear wheel steering of tractor is proposed. At first, an estimator for unknown curvatures of target lanes is developed. Using the estimate of curvatures, a method to estimate ideal combination angle is proposed. Next, a method to design ideal transient responses for relative lateral distance, relative yaw angle and relative combination angle is proposed. Then, an adaptive steering controller to achieve ideal responses is developed. The developed controller does not require the measurement of lateral velocity of vehicles, the accurate knowledge of vehicle parameters and road curvatures. Moreover, good robust lane tracking performance can be easily achieved by setting only one design parameter. Using the estimator for unknown curvatures of target lanes, the steady state error between combination vehicles and target lane does not occur. It is shown that the performance of tracking error e(t) can be improved by setting design parameter alpha. Using simulation results, it is shown that in the closed loop system with large design parameter alpha, good robust lane keeping performance can be achieved and high frequency oscillations are hard to occur.
Adaptive lane keeping control for combination vehicles without measurement of lateral velocity
Adaptive Spurhaltungsregelung bei Fahrzeugkombinationen ohne Messung der lateralen Geschwindigkeit
2008
6 Seiten, 6 Bilder, 1 Tabelle, 11 Quellen
Aufsatz (Konferenz)
Englisch
Europäisches Patentamt | 2017
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