This research addresses the modelling, control synthesis, and simulation of intelligent vehicles for general lane following manoeuvring. The active steering controllers for passenger cars have been successfully obtained to perform both lane keeping and lane following manoeuvres simultaneously. The lateral vehicle dynamics incorporates a 2-DOF vehicle model with five state variables. Based on co-prime factorisation of the vehicle model, the linear robust controllers are synthesised using H loop-shaping approach, which provides robust performance and stability. The steering controller has been designed by only measuring the lateral deviation of a look-ahead point. In addition, the vehicle controller orders have been reduced from 16 states to five states without any significant degradation of performance. It is shown that higher vehicle speed has clearly a destabilising effect on the vehicle control system. Simulation test results indicate that the actively controlled cars using Hoo LSDP have significant advantages in general change manoeuvres. Furthermore frequency and time-domain analyses are provided to demonstrate the effectiveness of the design method presented. One difficulty of the design methodology presented is that it does not directly address the robustness properties of the real plant, but rather it is concerned with the shaped plant
Active steering for intelligent vehicles using advanced control synthesis
International Journal of Vehicle Design ; 42 , 3/4 ; 244-262
2006
19 Seiten, 12 Bilder, 4 Tabellen, 16 Quellen
Article (Journal)
English
Active steering for intelligent vehicles using advanced control synthesis
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