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Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System
Technical Paper
2001-01-0480
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Event:
SAE 2001 World Congress
Language:
English
Abstract
This paper describes the method used to design the basic control algorithm of a lane-keeping support system that is intended to assist the driver's steering action. Lane-keeping control has been designed with steering torque as the control input without providing a minor loop for the steering angle. This approach was taken in order to achieve an optimum balance of lane-keeping control, ease of steering intervention by the driver and robustness. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances, vehicle nonlinearity and parameter variation was confirmed by μ - analysis. The results of computer simulations and driving tests have confirmed that the control system designed with this method provides the intended performance.
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Authors
Citation
Shimakage, M., Kawazoe, H., Sadano, O., and Murakami, T., "Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System," SAE Technical Paper 2001-01-0480, 2001, https://doi.org/10.4271/2001-01-0480.Also In
SAE 2001 Transactions Journal of Passenger Cars - Mechanical Systems
Number: V110-6; Published: 2002-09-15
Number: V110-6; Published: 2002-09-15
References
- Mouri H. Furusho H. “Automatic path tracking control using linear quadratic control theory,” 1997 IEEE Conference on Intelligent Transportation Systems
- Furusho H. Mouri H. “Research on automated lane tracking using linear quadratic control: control procedure for a curved path,” JSAE Review 20 1999 325 329
- Satoh S. Mouri H. Kawazoe H. “Research on lane-tracking control,” Proceeding of the 7th World Congress on ITS November 2000 Italy