Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design
This paper presents a 9 Degree-of-Freedom (DOF) vehicle model combined with a closed-loop driver model for developing vehicle lateral control. The proposed driver model consists of a yaw effect adaptive fuzzy logic control. Stepper Motor Actuated Steering (SMAS) system is briefly introduced as an in...
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Main Authors: | , , |
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Format: | Article |
Published: |
Inderscience Enterprises Ltd.
2010
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Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/26188/ http://dx.doi.org/10.1504/IJVS.2010.035318 |
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Summary: | This paper presents a 9 Degree-of-Freedom (DOF) vehicle model combined with a closed-loop driver model for developing vehicle lateral control. The proposed driver model consists of a yaw effect adaptive fuzzy logic control. Stepper Motor Actuated Steering (SMAS) system is briefly introduced as an inner-loop subsystem. The Software-in-the-Loop (SILS) and Hardware-in-the-Loop (HILS) results show that the proposed driver model is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly and the proposed SMAS system is capable of tracking the desired steering angle position and producing the front wheel angle for the use of vehicle model. |
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