| EVALUATION OF FOUR-WHEEL-STEERING SYSTEM FORM THE VIEWPOINT OF LANE-KEEPING CONTROL |
| P. PAKSINCHAROENSAK1, H. MOURI2, M. NAGAIS1 |
1Tokyo University
2Nissan Motors |
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| ABSTRACT |
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This paper evaluates the effectiveness of four-wheel-steering system from the viewpoint of lane-keeping control theory. In this paper, the lane-keeping control system is designed on the basis of the four-wheel-steering automobiles whose desired steering response is realized with the application of model matching control. Two types of desired steering responses are presented in this paper. One is zero-sideslip response, the other one is steering response which realizes zero-phase-delay of lateral acceleration. Using simplified linear two degree-of-freedom bicycle model, simulation study and theoretical analysis are conducted to evaluate the lane-keeping control performance of active fourwheel-steering automobiles which have different desired steering responses. Finally, the evaluation is conducted on straight and curved roadway tracking maneuvers. |
| Key Words:
Four-wheel-steering Lane-keeping control, Active safety, Model matching control, Vehicle dynamics, Optimal control |
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