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Abstract

This paper deals with the modelling and robust control synthesis of intelligent vehicles for general lateral motion in intelligent transportation system applications. The lateral vehicle dynamics for general lane following are firstly derived in a unified framework. Based on a coprime factor plant description, the two-degree-of freedom based H₁ loop-shaping control scheme is presented for lane keeping and changing manoeuvres simultaneously. The resulting robust controller is generally of high order and has to be reduced for real implementation. Also, the reduced-order controller is evaluated in both the frequency- and the time-domain analysis. Finally, it is found that the proposed automatic steering controller provides robust performance and stability for a given vehicle manoeuvring in the presence of parameter variations of vehicles.

Keywords

automatic steering intelligent transportation system (ITS)lane-following manoeuvres loop-shaping procedure reduced-order controller robust control vehicle dynamics

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Automatic steering controllers for general lane-following manoeuvres of passenger cars using 2-DOF robust control synthesis

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