DocumentCode :
2640521
Title :
Design of lane tracking controller for motorcycles
Author :
Katagiri, Nozomi ; Marumo, Yoshitaka ; Tsunashima, Hitoshi
Author_Institution :
Nihon Univ., Chiba
fYear :
2007
fDate :
17-20 Sept. 2007
Firstpage :
1544
Lastpage :
1547
Abstract :
This study examines a lane tracking control system for motorcycles to develop a lane keeping assistance system. We apply the optimal control theory based on a model-based control to the controller to follow a desired lane. By examining computer simulation using a simplified vehicle model, a good lane tracking performance is realized by evaluating the lateral displacement of gravity in the cost function of the optimal control. The tracking performance is improved by increasing the weight for the lateral displacement of the center of gravity. Furthermore, evaluating the lateral displacement at the virtual point ahead of the vehicle, which is defined by synthesizing the lateral displacement of the vehicle gravity and the yawing angle, copes with both lane tracking performance and convergence with suppressing undesirable yawing motion.
Keywords :
control system synthesis; motion control; motorcycles; optimal control; position control; center of gravity; lane keeping assistance system; lane tracking controller; lateral displacement; motorcycles; optimal control theory; Control systems; Educational institutions; Electronic mail; Gravity; Industrial control; Mechanical engineering; Motorcycles; Optimal control; Vehicle dynamics; Vehicle safety; Active Safety; Lane Tracking Control; Motion Control; Motorcycle; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
Type :
conf
DOI :
10.1109/SICE.2007.4421228
Filename :
4421228
Link To Document :
بازگشت