Automated steering control system design for passenger vehicle in consideration of steering actuator dynamics

Yukihiro Fujiwara; Masakazu Yoshii; Shuichi Adachi

doi:10.1109/ACC.2002.1023123

Automated steering control system design for passenger vehicle in consideration of steering actuator dynamics

Yukihiro Fujiwara, Masakazu Yoshii, Shuichi Adachi

Research output: Chapter in Book/Report/Conference proceeding › Chapter

4 Citations (Scopus)

Abstract

A control system is described for automated steering systems to prevent traffic accidents. A model of the system is built by integrating a lane model and a vehicle model based on the visual servoing approach. The system is controlled by a guidance controller and an angle controller. The former is designed on the basis of steering actuator dynamics and uncertainties of vehicle parameters, and the latter is designed on the basis of steering wheel dynamics using μ synthesis. It is proved that the proposed control system achieves vehicle stability for steering maneuvers such as obstacle avoidance.

Original language	English
Title of host publication	Proceedings of the American Control Conference
Pages	857-862
Number of pages	6
Volume	2
DOIs	https://doi.org/10.1109/ACC.2002.1023123
Publication status	Published - 2002 Jan 1
Externally published	Yes

ASJC Scopus subject areas

Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/ACC.2002.1023123

Cite this

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abstract = "A control system is described for automated steering systems to prevent traffic accidents. A model of the system is built by integrating a lane model and a vehicle model based on the visual servoing approach. The system is controlled by a guidance controller and an angle controller. The former is designed on the basis of steering actuator dynamics and uncertainties of vehicle parameters, and the latter is designed on the basis of steering wheel dynamics using μ synthesis. It is proved that the proposed control system achieves vehicle stability for steering maneuvers such as obstacle avoidance.",

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AB - A control system is described for automated steering systems to prevent traffic accidents. A model of the system is built by integrating a lane model and a vehicle model based on the visual servoing approach. The system is controlled by a guidance controller and an angle controller. The former is designed on the basis of steering actuator dynamics and uncertainties of vehicle parameters, and the latter is designed on the basis of steering wheel dynamics using μ synthesis. It is proved that the proposed control system achieves vehicle stability for steering maneuvers such as obstacle avoidance.

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Automated steering control system design for passenger vehicle in consideration of steering actuator dynamics

Abstract

ASJC Scopus subject areas

UN SDGs

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