A new driver support system is recommended which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver's operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. The steering controller was designed by considering the driver's characteristics as uncertainty and was extended to the gain scheduling controller where the scheduling parameter was the steering torque. The control specifications of the steering controller are as follows. (1) To reduce the influence of the road reaction torque on the steering torque motor, which corresponds to the disturbance rejection performance. (2) To reduce the influence of reference angle on motor rotational angle, which corresponds to the reference tracking performance. The robust control was designed by means of LMI (Linear Matrix Inequality). By numerical experiments which simulate obstacle avoidance, it is shown that the proposed method has a good tracking capability and cooperates well with driver's operation.
Steering assistance system for driver characteristics using gain scheduling control
Entwurf einer Adaptivregelung für ein Fahrerunterstützungssystem
2003
6 Seiten, 9 Bilder, 10 Quellen
Conference paper
Storage medium
English
Steering lamp-based driver assistance method and driver assistance system
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