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Design of Lane-Keeping Control with Steering Torque Input for a Lane-Keeping Support System

机译：车道保持扭矩输入的车道保持控制设计

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摘要

This paper describes the method used to design the basic control algorithm of a lane-keeping support system that is intended to assist the driver's steering action. Lane-keeping control has been designed with steering torque as the control input without providing a minor loop for the steering angle. This approach was taken in order to achieve an optimum balance of lane-keeping control, ease of steering intervention by the driver and robustness. The servo control system was designed on the basis of H{sub}2 control theory. Robustness against disturbances, vehicle nonlinearity and parameter variation was confirmed by μ-analysis. The results of computer simulations and driving tests have confirmed that the control system designed with this method provides the intended performance.
机译：本文介绍了用于设计旨在帮助驾驶员转向动作的车道保持系统的基本控制算法的方法。保持车道保持控制，设计具有转向扭矩作为控制输入，而不为转向角提供次要环路。采取这种方法是为了实现车道保持控制的最佳平衡，易于通过驾驶员和鲁棒性方便转向干预。伺服控制系统是在H {SUB} 2控制理论的基础上设计的。通过μ分析确认了对抗扰动，车辆非线性和参数变化的鲁棒性。计算机模拟和驾驶测试的结果证实，使用该方法设计的控制系统提供了预期的性能。

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