International Journal of Automotive Technology

The Korean Society of Automotive Engineers (한국자동차공학회)
권호 표지

EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FROM THE VIEWPOINT OF LANE-KEEPING CONTROL

  • Raksincharoensak, P. (Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology) ;
  • Mouri, H.I (Vehicle Research Laboratory, Nissan Motor Co., Ltd.) ;
  • Nagai, M.I (Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology)
  • Published : 2004.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active four-wheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers.

Keywords

References

  1. Alleyne, A. (1997). A comparison of alternative intervention strategies for unintended roadway departure (URD) Control. Vehicle System Dynamics 27,3, 157-186 https://doi.org/10.1080/00423119708969327
  2. Fujioka, T. and Omae, M. (1999). Overview of control for automatic driving system. The Journal of the Robotics Society of Japan 17, 3, 18-23
  3. Furukawa, Y., Yuhara, N., Sano, S., Takeda, H., and Matsushita, Y. (1989). A review of four-wheel-steering studies from the viewpoint of vehicle dynamics and control. Vehicle System Dynamics 18, 151-186 https://doi.org/10.1080/00423118908968917
  4. Hedrick, J. K., Tomizuka, M. and Varaiya, P. (1994). Control issues in automated highway systems. IEEE Control Svstems 12, 21-32
  5. Mouri, H. and Furusho, H. (1997). Automatic path track-ing control using linear quadratic control theory. IEEEConference on Intelligent Transportation Systems
  6. Mouri, H., Shirato, R., Furusho, H. and Nagai, M. (2002). Investigation of automatic path tracking using extended kalman filter. JSAE Review 23,1, 61-68 https://doi.org/10.1016/S0389-4304(01)00171-0
  7. Nagai, M. (1989). Active four-wheel-steering system by model following control. Proceedings of the $11^{th}$ IAVSD Symposium, Kingston, 428-439