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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    Title :

    Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System


    Additional title:

    Sae Technical Papers


    Contributors:

    Conference:

    SAE 2001 World Congress ; 2001



    Publication date :

    2001-03-05




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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