Abstract— Increasing the gain of feedback controller can reduce the effect of disturbance from the road curvature in a lane following system. However, the high feedback gain may push the lane following system toward unstability especially at high speed. Therefore, in this paper the feedforward control, which is associated with the road curvature, is added into vehicles’ lateral control. The road curvature information is obtained from a vision-based lane detection module. The feedforward control can improve the tracking characteristics of the lane following system when driving around curves without large gain of the feedback controller and relieve the burden on the feedback controller. The feedback controller is a phase lead controller based on the lateral displacement at a lookahead distance and is designed based on an identified lateral transfer function. The controller is implemented in a real vehicle and tested on the high speed circuit where the curve radius is 242 m.
Keywords—Feedforward and phase lead feedback controller; Lane following system; Electric power steering system;
- IA-07-0014 (565K)