B.-F. Wu∗ and S.-M. Chang∗
Front-wheel steering ground vehicle systems, front-wheel lateral acceleration, look-ahead controller and empirical pre-filter
This study presents a complete lateral control steering system for front-wheel steering (FWS) ground vehicles, in which it is observed that the lane angle, obtained from the two-degrees-of- freedom (2DOF) vehicle model as a stated variable, can be merged into the vehicle dynamics model so that the lateral position, velocity and acceleration commands can be easily calculated. The function of each block is described as follows. The modified driver command substituted for the driver command reduces the yaw rate error. Two feedback signals, including the yaw rate and the front axle lateral acceleration, improve the proposed system performance. The active steering angle compensates for the yaw rate influence. The empirical pre-filter obtains a soft system response and eliminates any lateral acceleration error. The forward-looking controller substitutes for conventional human driving behaviour. The proposed steering system analyzed with numerical simulation achieves the given trajectory and minimizes the errors.
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