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Automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design

机译:车道保持动作的自动转向控制:外环和内环控制设计

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摘要

This paper presents a 9-DOF vehicle model combined with a closed-loop driver model for the purpose of studying vehicle lateral control. The performance is evaluated using predefined trajectory of lanekeeping manoeuvre at constant speed. The driver model is developed to control steering angle and uses lookup table path as reference for the control input. The proposed outer-loop control structure of the driver model is a combination of proportional gain control with a yaw effect adaptive fuzzy logic control. The results show that the proposed outer-loop control structure is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly. Stepper motor model, rack and pinion model, and kinematic model of the steering system are integrated to become an inner-loop subsystem for the stepper motor actuated steering (SMAS) system. The performance of the inner-loop control is evaluated using desired trajectories such as square wave, sawtooth wave, and sine wave. The proposed inner-loop control structure consists of closed-loop positioning control for the stepper motor. The results show that the proposed inner-loop control structure is capable of tracking the desired steering angle position and producing the wheel angle needed by the vehicle model.
机译:本文提出了一种9自由度车辆模型和一个闭环驾驶员模型,用于研究车辆横向控制。使用预定义的行车道轨迹以恒定速度评估性能。开发了驾驶员模型来控制转向角,并使用查找表路径作为控制输入的参考。驱动器模型的拟议外环控制结构是比例增益控制与偏航效果自适应模糊逻辑控制的结合。结果表明,所提出的外环控制结构能够显着改善Y轴轨迹误差和Y轴轨迹操纵。集成了转向系统的步进电机模型,齿条齿轮模型和运动学模型,从而成为了步进电机致动转向(SMAS)系统的内环子系统。使用期望的轨迹(例如方波,锯齿波和正弦波)评估内环控制的性能。所提出的内环控制结构包括步进电机的闭环定位控制。结果表明,提出的内环控制结构能够跟踪所需的转向角位置并产生车辆模型所需的车轮角。

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