Automatic steering control of vehicle lateral motion with the effect of roll dynamics

Kai-Ten Feng, Han Shue Tan, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 Scopus citations

Abstract

The two dominant motions of automatic vehicle steering control are yaw and lateral motion. A two degree-of-freedom(DOF) model commonly used to describe these motions is called the bicycle model. Experimental results for certain vehicles, however, show the lowered gain characteristics in the lateral acceleration response to the steering input. This is attributed to suspension dynamics. In this paper, a 3 DOF linear model, which incorporate the suspension roll mode, is developed and verified against the experimental data. The H theory is applied to the bicycle model and the 3 DOF model for synthesis of robust steering controllers. The simulation results indicate the importance of the effect of roll dynamics to steering controller design.

Original languageEnglish
Title of host publicationProceedings of the 1998 American Control Conference, ACC 1998
Pages2248-2252
Number of pages5
DOIs
StatePublished - 1 Dec 1998
Event1998 American Control Conference, ACC 1998 - Philadelphia, PA, United States
Duration: 24 Jun 199826 Jun 1998

Publication series

NameProceedings of the American Control Conference
Volume4
ISSN (Print)0743-1619

Conference

Conference1998 American Control Conference, ACC 1998
CountryUnited States
CityPhiladelphia, PA
Period24/06/9826/06/98

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  • Cite this

    Feng, K-T., Tan, H. S., & Tomizuka, M. (1998). Automatic steering control of vehicle lateral motion with the effect of roll dynamics. In Proceedings of the 1998 American Control Conference, ACC 1998 (pp. 2248-2252). [703027] (Proceedings of the American Control Conference; Vol. 4). https://doi.org/10.1109/ACC.1998.703027