NDLI: Adaptive Steering Control Scheme for Combination Vehicles to Track Target Lane

Content Provider	IEEE Xplore Digital Library
Author	Wang, Q. Oya, M. Kobayashi, T.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Control Eng., Kyushu Inst. of Technol., Fukuoka (Wang, Q.; Oya, M.; Kobayashi, T.)
Abstract	In this paper, a new lane keeping control scheme of combination vehicles using tractor front wheel steering, tractor rear wheel steering and trailer wheel steering is proposed. At first, an estimator for unknown curvatures of target lanes is proposed. Because of using the estimate of road curvature, exact lane keeping can be achieved in steady state after changing road curvature. Next, a method to design ideal transient trajectories for lateral distance, relative yaw angle and relative combination angle is proposed. Then, an adaptive steering controller to achieve ideal trajectories is developed. The proposed controller doesn't require any accurate knowledge of vehicle parameters. Because initial transient responses and lane keeping in steady state can be designed separately, good lane keeping performance can be achieved without using large initial steering angles
Starting Page	1790
Ending Page	1795
File Size	6613006
Page Count	6
File Format	PDF
ISBN	8995003847
DOI	10.1109/SICE.2006.315638
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-18
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	The Institute of Control, Automation and Systems
Subject Keyword	Programmable control Adaptive control Target tracking Wheels Automatic control Steady-state Design methodology Vehicle safety Road safety Frequency Tractor-semitraiker combination Automatic steering control Lane keeping
Content Type	Text
Resource Type	Article

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