Vehicle Lane-Tracking Control with Steering Torque Input

Abstract

SUMMARYAlternative methods of automatic steering system are investigated by using a vehicle-mounted camera that detects lane markers ahead of the vehicle. The control input of such a steering system can be classified into steering angle and steering torque. This paper investigates the physical characteristics of automatic lane-tracking controller using steering angle and steering torque as the control input, and compares their differences. Generally, most of researches about lane-tracking control manoeuvre deal with steering angle control method due to its excellent robustness. In contrast, the steering torque control provides some degree of freedom in permitting the driver to steer the vehicle, thus it has potential for development as a steering assist mechanism. In this paper, the controller design is Linear Quadratic (LQ) controller based on the simplified dynamics of a 2 degree-of-freedom bicycle model and simplified steering model.