Robustness of front-wheel-steered vehicles with the angle controllers connected to actual lane command

Bing Fei Wu*, Shih Meng Chang

*Corresponding author for this work

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

Abstract

This study analyzes front wheels steering (FWS) vehicles using results obtained from two unmanned cars: Unmanned Car I (UCI) and Unmanned Car II (UCII). The vehicle model integrates the lane angle derived from the translational system such that data on the lateral position, the lateral velocity and the lateral acceleration are comprehensively obtained. The main function of each block in the two newly developed structures is described as follows. Two angle controllers were used to eliminate the redundant components of the front-wheel steering angles. A lane scheduled gain (LSG) in each system was used to improve the lane angle deflection in UCI and UCII while the feed-forward controller simulates the behavior of a driver. The use of an empirical pre-filter reduces the lane angle error for UCI and UCII hence enhancing the performance of the system. Finally, the numerical calculation has shown that the two proposed systems are capable of tracking the desired course accurately.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Systems, Man and Cybernetics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1030-1035
Number of pages6
ISBN (Print)1424401003, 9781424401000
DOIs
StatePublished - 1 Jan 2006
Event2006 IEEE International Conference on Systems, Man and Cybernetics - Taipei, Taiwan
Duration: 8 Oct 200611 Oct 2006

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume2
ISSN (Print)1062-922X

Conference

Conference2006 IEEE International Conference on Systems, Man and Cybernetics
CountryTaiwan
CityTaipei
Period8/10/0611/10/06

Keywords

  • Lane scheduled gains
  • Two angle controllers and feed-forward controller
  • Unmanned cars

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