Research on Lane-tracking Control

机译：车道跟踪控制研究

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Most of the studies done on lane-tracking control have used the steering angle as thecontrol system input. There are only a few reports of research on methods that use steeringtorque as the control input. In operating a vehicle, especially at high speed, drivers do not holdthe steering wheel with such strong restraining force that there is no deviation of the steeringwheel angle. For instance, a person in the front passenger’s seat can easily intervene in thesteering process while the driver is holding the steering wheel. From this example, it isinferred that drivers control their vehicles mainly on the basis of steering torque, especially inhigh-speed cruising. In this connection, the development of a lane-tracking control systembased on steering torque would also allow the construction of a steering assist system, inaddition to enabling automated driving. Since the machine would fulfill the role normallydischarged by the driver, the latter would only have to perform intervention steering asneeded, in a manner similar to a front-seat passenger.This paper compares two lane-tracking control procedures, one using the steering angleas the control input and the other using steering torque as the input. This comparison willmake clear the characteristics of both approaches. While steering angle control providessuperior robustness, the control system configuration does not allow the driver to intervene inthe steering process. In contrast, steering torque control provides some degree of freedom forallowing the driver to steer even during the control process, thus offering the potential for theprovision of a steering assist mechanism.

机译：关于车道跟踪控制的大多数研究都将转向角用作控制系统输入。关于使用转向的方法的研究只有很少的报道扭矩作为控制输入。在驾驶车辆时，特别是在高速行驶时，驾驶员不会保持方向盘具有强大的约束力，因此转向不会出现偏差轮角。例如，坐在前排乘客座位上的人可以轻松地干预驾驶员握住方向盘时的转向过程。在这个例子中，它是推断驾驶员主要根据转向扭矩来控制车辆，尤其是在高速巡航。就此而言，车道跟踪控制系统的开发基于转向扭矩还可以构建转向辅助系统，除了实现自动驾驶。由于机器将正常履行职责由驾驶员排出，后者仅需执行干预转向即可所需的方式与前排乘客类似。本文比较了两种车道跟踪控制程序，一种使用转向角作为控制输入，另一个使用转向转矩作为输入。这种比较将明确两种方法的特征。虽然转向角控制提供了强大的鲁棒性，控制系统配置不允许驾驶员干预转向过程。相反，转向扭矩控制为使驾驶员即使在控制过程中也可以转向，从而为驾驶员提供了潜在的动力提供转向辅助机构。

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《World congress on Intelligent Transport Systems》|2000年|p.1-8|共8页
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Shigeki Satoh; Hiroshi Mouri; Hiroshi Kawazoe;
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中图分类交通工程与交通管理;自动化系统理论;
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Research on Lane-tracking Control

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