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Design of Lane Keeping Steering Assist Controller Using Vehicle Lateral Disturbance Estimation under Cross Wind

횡풍하의 차량 외란 추정을 이용한 차선 유지 조향 보조 제어기 설계

  • 임형호 (서울대학교 기계항공공학부) ;
  • 좌은혁 (서울대학교 정밀기계연구소) ;
  • 이경수 (서울대학교 기계항공공학부)
  • Received : 2019.12.09
  • Accepted : 2020.03.27
  • Published : 2020.09.30

Abstract

This paper presents steering controller for unintended lane departure avoidance under crosswind using vehicle lateral disturbance estimation. Vehicles exposed to crosswind are more likely to deviate from lane, which can lead to accidents. To prevent this, a lateral disturbance estimator and steering controller for compensating disturbance have been proposed. The disturbance affecting lateral motion of the vehicle is estimated using Kalman filter, which is on the basis of the 2-DOF bicycle model and Electric Power Steering (EPS) module. A sliding mode controller is designed to avoid unintended the lane departure using the estimated disturbance. The controller is based on the 2-DOF bicycle model and the vision-based error dynamic model. A torque controller is used to provide appropriate assist torque to driver. The performance of proposed estimator and controller is evaluated via computer simulation using Matlab/Simulink.

Keywords

References

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