Robust control for automated lane keeping against lateral disturbance

Author

Yamamoto, Masashi ; Kagawa, Yasuo ; Okuno, Akihiro

Author_Institution

Tech. Res. Center, Mazda Motor Corp., Kanagawa, Japan

fYear

1999

fDate

6/21/1905 12:00:00 AM

Firstpage

240

Lastpage

245

Abstract

This paper addresses automatic lane keeping of a road vehicle under external disturbances such as road banks and crosswinds. A technique to observe the external forces acting on the vehicle due to the disturbances was developed and the steering was controlled to compensate for the changes of the external forces. The effectiveness of the disturbance compensation algorithm was verified by a real vehicle test in which the vehicle underwent a rapid change in gravitational force. The test results are reported with a description of the total design of the control system

Keywords

automated highways; compensation; road vehicles; robust control; automated highways; automated lane keeping; crosswinds; disturbance compensation; external force observation; gravitational force change; lateral disturbance; road banks; robust control; steering control; Automatic control; Communication system control; Control systems; Degradation; Force control; Gravity; Road vehicles; Robust control; Sensor systems; System testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Transportation Systems, 1999. Proceedings. 1999 IEEE/IEEJ/JSAI International Conference on

Conference_Location

Tokyo

Print_ISBN

0-7803-4975-X

Type

conf

DOI

10.1109/ITSC.1999.821061

Filename

821061