Abstract
In this paper, we propose an adaptive steering controller without using measurements of lateral velocity of vehicles. At first, we show a new dynamic expression suitable for the design of a stable adaptive steering controller without using the lateral velocity. Next, we develop an ideal vehicle model. In the designed ideal vehicle model, a good steering performance can be achieved even if the drivers’ steering characteristics vary. Finally, an adaptive steering controller is developed, so that the actual vehicles can track ideal vehicle model and realize good steering performance.
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Abbreviations
- \(v_x\) :
-
Longitudinal velocity
- \(v_p\) :
-
Lateral velocity
- \(P_c\) :
-
Center of curvature
- \(\varepsilon _d\) :
-
Yaw angle of target lane
- \(\varepsilon\) :
-
Yaw angle of vehicle
- \(u_f\) :
-
Front wheel steering angle
- \(u_r\) :
-
Rear wheel steering angle
- \(i_c\) :
-
Moment of inertia around C.G.
- \(l_f\) :
-
Distance from P to front wheel
- \(l_r\) :
-
Distance from P to rear wheel
- \(h\) :
-
Distance between P and C.G.
- \(y_r\) :
-
Relative lateral distance between P and target lane
- \(\varepsilon _r\) :
-
Relative yaw angle \(\varepsilon _r(t)=\varepsilon (t)-\varepsilon _d(t)\)
- \(v_c\) :
-
Lateral velocity at C.G.
- \(P\) :
-
Reference point
- \(\rho\) :
-
Curvature of target lane
- \(k_r\) :
-
Rear cornering stiffness
- \(k_f\) :
-
Front cornering stiffness
- \(m\) :
-
Vehicle mass
References
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This work was presented in part at the 19th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22–24, 2014.
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Shu, P., Yoshihara, Y., Zhuo, J. et al. Adaptive steering control without using measurements of lateral velocity of vehicles. Artif Life Robotics 19, 270–276 (2014). https://doi.org/10.1007/s10015-014-0164-y
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DOI: https://doi.org/10.1007/s10015-014-0164-y