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Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design
by Em Poh Ping, Khisbullah Hudha, Hishamuddin Jamaluddin
International Journal of Vehicle Safety (IJVS), Vol. 5, No. 1, 2010


Abstract: This paper presents a 9 Degree-of-Freedom (DOF) vehicle model combined with a closed-loop driver model for developing vehicle lateral control. The proposed driver model consists of a yaw effect adaptive fuzzy logic control. Stepper Motor Actuated Steering (SMAS) system is briefly introduced as an inner-loop subsystem. The Software-in-the-Loop (SILS) and Hardware-in-the-Loop (HILS) results show that the proposed driver model is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly and the proposed SMAS system is capable of tracking the desired steering angle position and producing the front wheel angle for the use of vehicle model.

Online publication date: Tue, 21-Sep-2010


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