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XU Youchun
LI Keqiang
State Key Laboratory of Automotive
Safety & Energy,
Tsinghua University,
Beijing 100084, China
CHANG Ming
CHEN Jun
Department of Automobile
Engineering,
Military Transportation Institute,
Tianjin 300161, China
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HUMAN-SIMULATING
VEHICLE STEERING CONTROL ALGORITHM*
Abstract:
A new vehicle steering control algorithm is presented. Unlike
the traditional methods do, the algorithm uses a sigmoid
function to describe the principle of the human driver’s
steering strategy. Based on this function, a human simulating
vehicle steering model, human-simulating steering control(HS)
algorithm is designed. In order to improve the adaptability to
different environments, a parameter adaptive adjustment
algorithm is presented. This algorithm can online modify the
value of the key parameters of the HS real time. HS controller
is used on a vehicle equipped with computer vision system and
computer controlled steering actuator system, the result from
the automatic vehicle steering experiment shows that the HS algorithm gives good performance at different speed, even at the maximum speed of 172 km/h.
Key words:
Human-simulating control Sigmoid function Steering algorithm |