Development of active steering angle control based on electric power steering systems

Hsu, Jin-Yan; Yeh, Chih‐Jung; Hu, Tsung-Hsien; Hsu, Tsung-Hua; Sun, Fu-Hsien

doi:10.1109/vppc.2011.6042999

Cited by 8 publications

(2 citation statements)

References 3 publications

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“…To track the desired steering wheel angle calculated by the sliding mode controller, which is used as upper-level controller, the PI controller, which is widely used in steering-related motion control, was used. 53–56 The structure of the PI controller used as the lower-level controller is shown in Figure 14. Where k P is a proportional gain coefficient, k I is a integral gain coefficient.…”

Section: Lane Keeping Assistance Systemmentioning

confidence: 99%

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Lim

Kim

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes design, implementation, and evaluation of human driving data-based Lane Keeping Assistance System (LKAS) for electric bus equipped with a hybrid electric power steering system. The hybrid electric-power steering system used in this study means a steering system in which an Electric Power Steering (EPS) system and an Electro-Hydraulic Power Steering (EHPS) system are integrated into a ball-nut. A dynamic model of hybrid EPS system including EHPS system and EPS system has been developed to generate EPS torque and EHPS force corresponding to the input torque. In order to determine proper timing of LKAS intervention, driving data of electric bus drivers were collected and driving patterns were analyzed using a 2-D normal distribution probability density function. Lane information necessary for the lane-keeping assistance system is obtained from a vision camera mounted on the electric bus. Sliding mode control is used to get a Steering Wheel Angle (SWA) required for LKAS. A Proportional–Integral (PI) control is used to obtain an overlay torque required to track the target SWA. A proposed DLC threshold has been validated using vehicle simulation software, TruckSim, and MATLAB/Simulink. It is shown that the proposed DLC threshold shows good performance in both cases of slow lane departure and fast lane departure. The proposed algorithm has been successfully implemented on the electric bus and evaluated via real-world driving tests. Test scenario setting and the evaluation of performance were carried out by ISO 11270 criteria. It is shown that the algorithm successfully prevented the electric bus from unintended lane departure satisfying ISO 11270 criteria.

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Section: Lane Keeping Assistance Systemmentioning

confidence: 99%

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Lim

Kim

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…The most common method for determining the RTC state is to judge whether the steering wheel angle and the angular velocity are in the same direction—good results can be achieved for the “release-return” state. For the complex steering condition in which power steering state and RTC state switch frequently, however, RTC torque will have a certain impact on the driver’s feel because the angular velocity of the steering wheel cannot be mutated [ 15 , 16 , 17 ].…”

Section: Introductionmentioning

confidence: 99%

Active Return-to-Center Control Based on Torque and Angle Sensors for Electric Power Steering Systems

Tang

2018

Sensors

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This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT). Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a state switch between the steering assist state and the RTC state. In order to avoid the sudden change of the output torque for the driving motor when the state switches frequently between the steering assist state and the RTC state, we design an undisturbed state switching logic algorithm. This state switching logic algorithm ensures that the output value of the RTC controller is set to an initial value and increases in given steps up to a maximum value after entering the RTC state, and the output value of the RTC controller will reduce in given steps down to zero when exiting the RTC state. This therefore ensures smooth switch control between the two states and improves the driver’s steering feeling. Third, we design the RTC controller, which depends upon the feedback signals of the steering wheel angle and the angular velocity. In addition, the controller increases the auxiliary control function of the RTC torque based on vehicle speed. The experimental results show that the active RTC control method does not affect the basic assist characteristics, which effectively reduces the residual angle of the steering wheel at low vehicle speed and improves the RTC performance of the vehicle.

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Design and application of a novel higher-order type-n fuzzy-logic-based system for controlling the steering angle of a vehicle: a soft computing approach

Srivastava,

Kumar

2023

Soft Comput

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Development of active steering angle control based on electric power steering systems

Cited by 8 publications

References 3 publications

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Active Return-to-Center Control Based on Torque and Angle Sensors for Electric Power Steering Systems

Design and application of a novel higher-order type-n fuzzy-logic-based system for controlling the steering angle of a vehicle: a soft computing approach

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