This paper presents modeling, analysis, and controller design of the steering subsystem of heavy vehicles as a subsystem of vehicle lateral control system for the automated highway systems. A physical model of the steering subsystem is derived where the hydraulic power assist unit is modeled as a family of static nonlinear boost curves. Based on open-loop frequency tests and analysis of the physical model structure and its dynamical characteristics, a nominal second order linear model of the steering subsystem is obtained. Then, a linear robust loop-shaping controller is designed to provide a good tracking performance of the closed-loop dynamics of the steering subsystem for varying gain cross over frequencies which is a result of the nonlinear characteristics of the hydraulic power assist. The controller has been successfully incorporated as an inner-loop controller into the nested lateral control architecture for autonomous driving and its efficacy has been demonstrated experimentally.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Modeling and control of steering system of heavy vehicles for automated highway systems


    Contributors:

    Published in:

    Publication date :

    2004


    Size :

    10 Seiten, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English





    Steering Control of the Off-Highway Vehicles

    Joshi, Bharat / Sukumar, Srikant / Jawale, Vinit et al. | British Library Conference Proceedings | 2019


    Steering Control of the Off-Highway Vehicles

    Joshi, Bharat / Patil, Ojas / Sukumar, Srikant et al. | SAE Technical Papers | 2019


    CONNECTED AUTOMATED VEHICLE HIGHWAY SYSTEMS AND METHODS RELATED TO HEAVY VEHICLES

    RAN BIN / CHENG YANG / LUAN KUN et al. | European Patent Office | 2019

    Free access

    Connected automated vehicle highway systems and methods related to heavy vehicles

    RAN BIN / CHENG YANG / LUAN KUN et al. | European Patent Office | 2023

    Free access