Analysis and robust control design of a steering system for autonomous Vehicles

Balázs Németh, Dániel Fényes, P. Gáspár, András Mihály

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The paper proposes the analysis and control of a steering system which is linked to the requirements of autonomous vehicles. The steering system of an autonomous vehicle must guarantee reliable and highly efficient intervention even in extreme conditions. Therefore, the determination of the reachability domain of the steering system is important. Both simulations and frequency domain methods are applied to the calculation. The paper shows that the reachability domain significantly depends on both the steering angle and the steering speed, which is utilized in the steering control design. Two results are incorporated in the robust control design of the steering. First, the analysis results of the steering system are built into the robust H1 control design through frequency-dependent weighting functions. Second, experimental vehicle tests have been performed to examine the steering style of the driver. This information is also incorporated in the steering control through preview information. Finally, highfidelity simulation scenarios show that the proposed method has several advantages compared to the conventional steering control solution.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages535-540
Number of pages6
ISBN (Electronic)9781509059980
DOIs
Publication statusPublished - Aug 21 2017
Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duration: Jul 3 2017Jul 7 2017

Other

Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
CountryGermany
CityMunich
Period7/3/177/7/17

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Németh, B., Fényes, D., Gáspár, P., & Mihály, A. (2017). Analysis and robust control design of a steering system for autonomous Vehicles. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 535-540). [8014072] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014072