Title: Velocity scheduled driver assisted control

Authors: David Lynch, Andrew Alleyne

Addresses: Department of Mechanical and Industrial Engineering, University of Illinois Urbana Champaign, Urbana, Illinois 61801, USA. Department of Mechanical and Industrial Engineering, University of Illinois Urbana Champaign, Urbana, Illinois 61801, USA

Abstract: This paper investigates the effectiveness of velocity-scheduled Driver Assisted Control (DAC) to control the yaw rate of a front wheel drive, four-wheel steer passenger vehicle. The goal of this research is to be able to impart new handling characteristics to a vehicle through the entire range of operational longitudinal velocities. The DAC uses vehicle yaw rate as input and the rear steering angle as output, thus allowing the driver to maintain a direct line of vehicle control via the front wheels for safety reasons. Multiple DAC controllers are designed for discrete longitudinal velocities within the vehicle|s operating range. A transition methodology was then implemented to switch between DAC controllers as the longitudinal velocity changes. Finally, the controller was tested experimentally on a scaled vehicle testbed.

Keywords: four-wheel steer; driver-assisted control; model reference control; scaled vehicle; gain scheduling.

DOI: 10.1504/IJVD.2002.001998

International Journal of Vehicle Design, 2002 Vol.29 No.1/2, pp.1-22

Available online: 15 Aug 2003 *

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