Adaptive Lane Keeping Controller for Four-Wheel-Steering Vehicles

Oya, Masahiro; Wang, Qiang

doi:10.1109/icca.2007.4376700

Cited by 17 publications

(28 citation statements)

References 11 publications

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“…Thus, when driving on a highway, a vehicle's longitudinal velocity may always be a constant velocity

{\overset{v}{true}}_{x}

. Therefore, as stated by , the estimate

{\overset{ρ}{false}}_{v} (t)

converges to the real value

{\overset{v}{true}}_{x} \overset{ρ}{true}

, and the estimate error

{\overset{ρ}{false}}_{v} (t) = {\overset{v}{true}}_{x} \overset{ρ}{true} - {\overset{ρ}{false}}_{v} (t)

converges to zero. Based on this notion, we can see that the term containing the estimate error

{\overset{ρ}{false}}_{v} (t)

in also converges to zero.…”

Section: Development Of An Adaptive Lane‐keeping Controllermentioning

confidence: 97%

“…It is assumed that the relative yaw angle ε r ( t ) and the steering angles are all small when vehicles are driven on highways. Therefore, by neglecting the pitch, roll and vertical dynamics of the vehicle, and assuming that the longitudinal velocity v x ( t ) is controlled by the designer and that

| {\overset{v}{true}}_{x} (t) |

is small, the vehicle dynamics equation and the relation between the vehicle and the target lane are given as follows :

\overset{bold-italicx}{true} (t) = v_{x} (t) {bold-italicc}_{x} {bold-italicb}_{x}^{normalT} bold-italicx (t) + {(H_{p}^{normalT})}^{- 1} bold-italicz (t) - {bold-italicb}_{x} v_{x} (t) ρ (t),

\overset{bold-italicz}{true} (t) = - v_{x} {(t)}^{- 1} A_{z} (t) bold-italicz (t) + Q K bold-italicu (t),

(}, \begin{matrix} right & left x (t) = {[y_{r} (t) ε_{r} (t)]}^{T} z (t) = H_{p}^{T} q_{p} (t), q_{p} (t) = H^{- 1} q_{c} (t) = {[v_{p} (t) \dot{ε} (t)]}^{T}, & right & <...> \end{matrix})

…”

Section: Controlled Objectmentioning

confidence: 99%

“…Moreover, the number of signals that need integral actions in the regressor vector ξ z ( t ) is only two. However, the number of similar signals in is six. The properties of this improved dynamic expression are very helpful for designing an adaptive controller with a simple construction.…”

Section: Controlled Objectmentioning

confidence: 99%

“…When travelling on highways, the lane‐keeping performance is important but so are the initial transient properties of the relative position x ( t ). To design the initial transient trajectories, we utilize the method proposed by , which we now introduce. The desired state z d ( t ) for the state z ( t ) is defined as

{bold-italicz}_{d} (t) = H_{p}^{normalT} [{bold-italicb}_{x} {\overset{ρ}{false}}_{v} (t) + {bold-italicz}_{x} (t)],

(}, \begin{matrix} right & left L [{\hat{ρ}}_{v} (t)] = \frac{ω_{n}}{s + ω_{n}} L [v_{x} (t) \hat{ρ} (t)], & right \\ right & left L [\hat{ρ} (t)] = \frac{- ω_{n}^{2}}{s^{2} + 2 ω_{n} ζ s + ω_{n}^{2}} ([) s L [v_{x} {(t)}^{- 1} b_{x}^{T} x (t)] - L [v_{x} {(t)}^{- 1} \dot{ε} (t) - v_{x} {(t)}^{- 2} {\dot{v}}_{x} (t) b_{x}^{T} x (t)] \\ right & left - v_{x} {(0)}^{- 1} \end{matrix})

…”

Section: Development Of An Adaptive Lane‐keeping Controllermentioning

confidence: 99%

“…When we use a positive function

V (t) = {bold-italicz}_{e} {(t)}^{normalT} Q^{- 1} {bold-italicz}_{e} (t)

and analyse the time derivative of the positive function to design a controller, the negative definiteness of the term

- {bold-italicz}_{e} {(t)}^{normalT} Q^{- 1} (v_{x} {(t)}^{- 1} Q K + v_{x} (t) A_{z 1}) {bold-italicz}_{e} (t)

is unclear. Therefore, compared with the development of the lane‐keeping controller proposed by , it is more difficult to develop a lane‐keeping controller based on the tracking error equation . To address this problem, we rewrite the tracking error equation as follows:

\begin{matrix} right {\dot{z}}_{e} (t) & left = - v_{x} {(t)}^{- 1} d_{z} z_{e} (t) - (1 - β (α, t)) v_{x} {(t)}^{- 1} Q K z_{e} (t) - β (α, t) v_{x} {(t)}^{- 1} Q K {\tilde{z}}_{e} (t) & right \\ right & left - v_{x} (t) A_{z 1} {\tilde{z}}_{e} (t) + Q K (u (t) - normalΘ (t) ξ_{u} (t) - \end{matrix}

…”

Section: Development Of An Adaptive Lane‐keeping Controllermentioning

confidence: 99%

See 4 more Smart Citations

Improved adaptive lane‐keeping control for four‐wheel steering vehicles without lateral velocity measurements

Shu

Sagara

Wang

et al. 2017

Intl J Robust & Nonlinear

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Summary Previously, we developed an adaptive lane‐keeping controller for vehicles without using lateral velocity measurements. However, the construction of the controller is very complex and not suitable for practical applications. To overcome this problem, we propose an improved adaptive lane‐keeping controller that is much simpler than the conventional controller. To obtain the improved controller, we propose an improved vehicle dynamic expression. In this dynamic expression, fewer elements are estimated adaptively as containing unknown vehicle parameters compared with the conventional expression. Moreover, a control performance improvement method is described theoretically. Finally, we report numerous simulations that validated the effectiveness of the improved controller. Copyright © 2017 John Wiley & Sons, Ltd.

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“…Thus, when driving on a highway, a vehicle's longitudinal velocity may always be a constant velocity