Title: Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design

Authors: Em Poh Ping, Khisbullah Hudha, Hishamuddin Jamaluddin

Addresses: Smart Material and Automotive Control (SMAC) Group, Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Karung Berkunci 1752, Pejabat Pos Durian Tunggal, 76109 Durian Tunggal Melaka, Malaysia. ' Smart Material and Automotive Control (SMAC) Group, Faculty of Mechanical Engineering, Universiti Teknikal Malaysia Melaka (UTeM), Karung Berkunci 1752, Pejabat Pos Durian Tunggal, 76109 Durian Tunggal Melaka, Malaysia. ' Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310 UTM Skudai, Johor, Malaysia

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.

Keywords: HILS; hardware-in-the-loop simulation; SILS; software-in-the-loop simulation; lanekeeping; automatic steering; driver model; steering kinematics; steering control; vehicle modelling closed-loop driver models; vehicle lateral control; yaw effect; adaptive control; fuzzy logic; fuzzy control; vehicle safety.

DOI: 10.1504/IJVS.2010.035318

International Journal of Vehicle Safety, 2010 Vol.5 No.1, pp.35 - 59

Available online: 21 Sep 2010 *

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