Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design. (22nd September 2010)

• Record Type: Journal Article
• Authors: Ping, Em Poh; Hudha, Khisbullah; Jamaluddin, Hishamuddin
• Is Part Of: International journal of vehicle safety. Volume 5:Number 1(2010)
• Page Start: 35
• Page End: 59
• Publication Date: 2010-09-22
• Subjects: HILS -- hardware-in-the-loop simulation -- SILS -- software-in-the-loop simulation -- lanekeeping -- automatic steering -- driver model -- steering kinematics -- steering control -- vehicle modelling closed-loop driver models -- vehicle lateral control -- yaw effect -- adaptive control -- fuzzy logic -- fuzzy control -- vehicle safety; Automobiles -- Design and construction -- Periodicals; Automobiles -- Safety measures -- Periodicals; 629.222028905
• Languages: English
• ISSNs: 1479-3105

Abstract

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.