A mathematical model for the steering control of an automobile is described. The structure of the model derives from linear optimal discrete time preview control theory but it is non-linear. Its parameter values are obtained by heuristic methods, using insight gained from the linear optimal control theory. The driver model is joined to a vehicle dynamics model and the path tracking performance is demonstrated, using moderate manoeuvring and racing speeds. The model is shown to be capable of excellent path following and to be robust against changes in the vehicle dynamics. Application to the simulation of manoeuvres specified by an ideal vehicle path and further development of the model to formalise the derivation of its parameter values and to put it to other uses are discussed.


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    Title :

    Mathematical model for driver steering control, with design, tuning and performance results


    Contributors:
    Sharp, R.S. (author) / Casanova, D. (author) / Symonds, P. (author)

    Published in:

    Vehicle System Dynamics ; 33 , 5 ; 289-326


    Publication date :

    2000


    Size :

    38 Seiten, 13 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    A mathematical model for driver steering control, with design, tuning and performance results

    Sharp,R.S. / Casanova,D. / Symonds,P. et al. | Automotive engineering | 2000


    A Mathematical Model for Driver Steering Control, with Design, Tuning and Performance Results

    Sharp, R.S. / Casanova, D. / Symonds, P. | Taylor & Francis Verlag | 2000



    Driver Steering Performance Using Joystick vs. Steering Wheel Controls

    Andonian, Brian / Bhise, Vivek / Rauch, William | SAE Technical Papers | 2003