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.
Design of lane-keeping control with steering torque input
Auslegung eines Systems zur Spurhaltung mit Lenkmomenteneingriff
JSAE Review ; 23 , 3 ; 317-323
2002
7 Seiten, 10 Bilder, 4 Quellen
Article (Journal)
English
Design of lane-keeping control with steering torque input
Online Contents | 2002
|Design of lane-keeping control with steering torque input
Automotive engineering | 2002
|Design of Lane-Keeping Control with Steering Torque Input (20034067)
British Library Online Contents | 2003
|Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System
SAE Technical Papers | 2001
|Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System
British Library Conference Proceedings | 2001
|