In n-input n-output systems such as x(t)=Ax(t) + Bu(t), x(t) set membership or element in Rn, let the driving matrix B be described as B=QK where Q is a positive definite matrix and K is a diagonal positive definite matrix. Then, it can be shown that a stable adaptive controller can be easily designed. Based on the fact, we propose a new adaptive lane keeping controller with front and rear wheel steering. First of all, a method to estimate unknown curvatures of target lanes is shown. The estimator doesn't require lateral velocity of vehicles. Next, we show a method to design ideal transient trajectories for relative lateral distance and relative yaw angle between vehicles and target lanes, and then, an adaptive steering controller is developed. The developed controller doesn't require the measurement of lateral velocity of vehicles, the accurate knowledge of vehicle parameters and road curvatures. Moreover, it is shown that good robust lane tracking performance can be easily achieved by setting only one design parameter.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Adaptive lane keeping controller for four-wheel-steering vehicles


    Contributors:
    Oya, M. (author) / Wang, Qiang (author)


    Publication date :

    2007


    Size :

    6 Seiten, 16 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English






    Performance of Four-Wheel-Steering Vehicles in Lane Change Maneuvers

    Lee, A. Y. / SAE | British Library Conference Proceedings | 1995



    Performance of four-wheel-steering vehicles in lane change maneuvers

    Lee,A.Y. / California Inst.of Technol.,US | Automotive engineering | 1995