This paper presents a 9 Degree-of-Freedom (DOF) vehicle model combined with a closed-loop driver model for developing vehicle lateral control. The proposed driver model consists of a yaw effect adaptive fuzzy logic control. Stepper Motor Actuated Steering (SMAS) system is briefly introduced as an inner-loop subsystem. The Software-in-the-Loop (SILS) and Hardware-in-the-Loop (HILS) results show that the proposed driver model is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly and the proposed SMAS system is capable of tracking the desired steering angle position and producing the front wheel angle for the use of vehicle model.


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    Title :

    Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design


    Additional title:

    HIL-Simulation einer automatischen Lenksteuerung beim Spureinhaltungsmanöver: Outer-Loop- und Inner-Loop-Regelungsentwurf


    Contributors:


    Publication date :

    2010


    Size :

    25 Seiten, 25 Bilder, 8 Tabellen, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English