Study on Automatic Path Tracking with Steering Torque Input (2nd Report, Path Tracking Controller Using H2 Control Theory and .MU.-Analysis)

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  • 操舵トルクを制御入力とする車線追従制御の検討（第２報，操舵トルク制御系の設計とロバスト性の確認）
  • ソウダ トルク オ セイギョ ニュウリョク ト スル シャセン ツイジュウ セイギョ ノ ケントウ ダイ2ホウ ソウダ トルク セイギョケイ ノ セッケイ ト ロバストセイ ノ カクニン

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Abstract

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. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances, vehicle nonlinearity and parameter variation was confirmed by μ-analysis.

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