Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System Nissan Motor Company, Limited

Format:

Conference/Event

Author/Creator:

Shimakage, Masayasu, author.

Conference Name:

SAE 2001 World Congress (2001-03-05 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2001

Summary:

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

Notes:

Vendor supplied data

Publisher Number:

2001-01-0480

Access Restriction:

Restricted for use by site license