@article{ref1,
title="Hardware-in-the-loop simulation of automatic steering control for lanekeeping manoeuvre: outer-loop and inner-loop control design",
journal="International journal of vehicle safety",
year="2010",
author="Ping, Em Poh and Hudha, Khisbullah and Jamaluddin, Hishamuddin",
volume="5",
number="1",
pages="35-59",
abstract="This paper presents a 9 Degree-of-Freedom (DOF) vehicle model combined with a closed-loop driver model for developing vehicle lateral control. The proposed driver model consists of a yaw effect adaptive fuzzy logic control. Stepper Motor Actuated Steering (SMAS) system is briefly introduced as an inner-loop subsystem. The Software-in-the-Loop (SILS) and Hardware-in-the-Loop (HILS) results show that the proposed driver model is capable of improving the Y-axis trajectory error and Y-axis trajectory manoeuvres significantly and the proposed SMAS system is capable of tracking the desired steering angle position and producing the front wheel angle for the use of vehicle model.<p />",
language="en",
issn="1479-3105",
doi="10.1504/IJVS.2010.035318",
url="http://dx.doi.org/10.1504/IJVS.2010.035318"
}