吉林大学学报(工学版) ›› 2004, Vol. ›› Issue (4): 582-586.

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Intelligent vehicle steering control

MA Lei1, WANG Rongben2   

  1. 1. College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
    2. College of Transportation, Jilin University, Changchun 130022, China
  • Received:2004-04-21 Online:2004-10-01

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Abstract: A preview kinematic equation of vehicle was established at first, and a dynamic equation for vehicle steering system was obtained through system identification experiments. Then, a more integrated steering control model was established based on the preview kinematic equation. A steering controller was designed by means of the sliding variable structure control theory. A simulation was performed to analyze systematically the problems met in the system design and experiments such as the effect of the front-wheel steering angle on the controller output, the static deflection found in experiments, and the relation between the preview lateral deflection and vehicle actual lateral deflection,etc., and a method to eliminate the deflection in the control software was suggested. The steering control system was verified by field test and its favorable track capability has been demonstrated.

Key words: automatic control technology, variable structure control, intelligent vehicle, system identification

CLC Number: 

  • TP242.62
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