This paper describes a procedure for the design of lane-keeping control that uses steering torque as the control input. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances and parameter variation was confirmed by my-analysis. The control performance of the system was first confirmed by simulations conducted under a variety of conditions, followed by driving tests with an actual vehicle which show that the desired performance was obtained. The method in this paper achieves an outstanding balance of excellent lane-keeping control, smooth steering motion and easy steering action by the driver.


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    Title :

    Design of lane-keeping control with steering torque input


    Additional title:

    Auslegung eines Systems zur Spurhaltung mit Lenkmomenteneingriff


    Contributors:
    Shimakage, M. (author) / Satoh, S. (author) / Uenuma, K. (author) / Mouri, H. (author)

    Published in:

    JSAE Review ; 23 , 3 ; 317-323


    Publication date :

    2002


    Size :

    7 Seiten, 10 Bilder, 4 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Design of lane-keeping control with steering torque input

    Shimakage, Masayasu | Online Contents | 2002


    Design of lane-keeping control with steering torque input

    Shimakage,M. / Satoh,S. / Uenuma,K. et al. | Automotive engineering | 2002


    Design of Lane-Keeping Control with Steering Torque Input (20034067)

    Shimakage, M. / Satoh, S. / Uenuma, K. et al. | British Library Online Contents | 2003


    Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System

    Kawazoe, Hiroshi / Shimakage, Masayasu / Sadano, On et al. | SAE Technical Papers | 2001


    Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System

    Shimakage, M. / Kawazoe, H. / Sadano, O. et al. | British Library Conference Proceedings | 2001