A constrained wheel torque controller for lane following system using control distribution

Ling Yuan Hsu, Kent Weng, Tsung-Lin Chen*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

A lane following system is proposed that employs four constrained wheel torques to regulate a vehicle on a reference trajectory. The proposed control algorithm was developed by combining several techniques such as: DYC method, hierarchical control architecture, sliding mode controls, control distributions, and etc. Different from existing approaches, the proposed method has the following advantages: (1) it can be implemented on two-wheel drive vehicles; (2) the error resulting from the hierarchical architecture are minimized and compensated; (3) the controlled wheel torque calculated by the control distribution method is an analytical solution instead of from numerical search. The proposed controller is evaluated by simulations on two more complex vehicle models: a full-state vehicle model and a sedan model from commercial software Carsim. Simulation results indicate that, in both cases, the proposed method can regulate the vehicle to finish a single lane change when the vehicle is moving at an initial speed of 90 km/hr.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Pages997-1002
Number of pages6
DOIs
StatePublished - 15 Oct 2010
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: 30 Jun 20102 Jul 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Conference

Conference2010 American Control Conference, ACC 2010
CountryUnited States
CityBaltimore, MD
Period30/06/102/07/10

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