TY  - JOUR
PY  - 2002//
TI  - Design of lane-keeping control with steering torque input
JO  - JSAE review
A1  - Shimakage, M.
A1  - Satoh, S.
A1  - Uenuma, K
A1  - Mouri, H
SP  - 317
EP  - 323
VL  - 23
IS  - 3
N2  - This paper describes a procedure for the design of lane-keeping control that uses steering torque as the control input. The servo control system was designed on the basis of H2 control theory. Robustness against disturbances and parameter variation was confirmed by [mu]-analysis. The control performance of the system was first confirmed by simulations conducted under a variety of conditions, followed by driving tests with an actual vehicle which show that the desired performance was obtained. The method in this paper achieves an outstanding balance of excellent lane-keeping control, smooth steering motion and easy steering action by the driver.<p />
LA  - 
SN  - 0389-4304
UR  - http://dx.doi.org/10.1016/S0389-4304(02)00194-7
ID  - ref1
ER  -