Title: Active steering for intelligent vehicles using advanced control synthesis

Authors: Sam-Sang You, Hyeung-Sik Choi, Hwan-Seong Kim, Tae-Woo Lim, Seok-Kwon Jeong

Addresses: School of Mechanical and Information Engineering, Korea Maritime University, Dongsam-dong, Yeongdo-ku, Pusan 606-791, South Korea. ' School of Mechanical and Information Engineering, Korea Maritime University, Dongsam-dong, Yeongdo-ku, Pusan 606-791, South Korea. ' School of Mechanical and Information Engineering, Korea Maritime University, Dongsam-dong, Yeongdo-ku, Pusan 606-791, South Korea. ' School of Mechanical and Information Engineering, Korea Maritime University, Dongsam-dong, Yeongdo-ku, Pusan 606-791, South Korea. ' School of Mechanical Engineering, Pukyong National University, South Korea

Abstract: This paper considers the design of an active steering controller of an intelligent vehicle for general lane change manoeuvres. First, we present a unified formulation of lateral vehicle dynamics. Next, the design method includes the 2-DOF H_∞ loop-shaping control scheme for lane change manoeuvres, in the face of co-prime factorisation perturbations. Furthermore, the controller has been reduced to a reasonable order before real implementation. The resulting controller is then evaluated in both frequency- and time-domains. Finally, it is shown that the presented controller provides excellent performance over a wide range of simulated manoeuvring conditions.

Keywords: active steering; co-prime factorisation; lane change manoeuvres; loop-shaping; plant uncertainty; simulation; reduced-order controller; robust control; lateral vehicle dynamics; intelligent vehicles; advanced control synthesis; vehicle design; vehicle control; steering control.

DOI: 10.1504/IJVD.2006.010432

International Journal of Vehicle Design, 2006 Vol.42 No.3/4, pp.244 - 262

Published online: 21 Jul 2006 *

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