Automated steering control system design for passenger vehicle in consideration of steering actuator dynamics

A control system is described for automated steering systems to prevent traffic accidents. A model of the system is built by integrating a lane model and a vehicle model based on the visual servoing approach. The system is controlled by a guidance controller and an angle controller. The former is designed on the basis of steering actuator dynamics and uncertainties of vehicle parameters, and the latter is designed on the basis of steering wheel dynamics using μ synthesis. It is proved that the proposed control system achieves vehicle stability for steering maneuvers such as obstacle avoidance.