Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Sliding Mode Control for an Electric Power Steering System in an Autonomous Lane Keeping System

자동 차선 유지 시스템의 전기식 파워 조향 시스템을 위한 슬라이딩 모드 제어기

  • Yu, Jun Young (Department of Electrical Engineering, Hanyang University) ;
  • Kim, Wonhee (Department of Electrical Engineering, Dong-A University) ;
  • Son, Young Seop (Department of Electrical Engineering, Hanyang University) ;
  • Chung, Chung Choo (Division of Electrical and Biomedical Engineering, Hanyang University)
  • Received : 2014.11.15
  • Accepted : 2014.12.30
  • Published : 2015.02.01
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Abstract

In this paper, we develop a sliding mode control for steering wheel angle control based on torque overlay in order to resolve the problem of previous methods for Electric Power Steering (EPS) systems in the Lane Keeping System (LKS) of autonomous vehicles. For the controller design, we propose a 2nd order model of the electric power steering system in an autonomous LKS. The desired state model is designed to prevent a rapid change of the steering wheel angle. The sliding mode steering wheel angle controller is developed for the robustness of the disturbance. Since the proposed method is designed based on torque overlay, torque integration with basic functions of the EPS system for the steering wheel angle control is available for the driver's convenience. The performance of the proposed method was validated via experiments.

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References

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