Li, Jialin and Takács, Dénes and Lu, Jianwei and Voros, Illes and Stépán, Gábor (2025) Exploring optimal feedback delays of lane-keeping controller. VEHICLE SYSTEM DYNAMICS. ISSN 0042-3114 (In Press)
|
Text
VSD_Jialin_2024_MM_final.pdf - Published Version Download (15MB) | Preview |
Abstract
This paper introduces a lane-keeping controller of vehicles considering two different time delays in the control loop. It focuses on the impact of time delays on system stability and control performance. A mathematical model for lane-keeping is used to design the hierarchical controller. The upper-level controller employs linear state feedback to determine the desired steering angle, considering different time delays corresponding to the lateral position and the yaw angle signals. The lower-level controller applies the steering torque via PD control to achieve the desired steering angle. The D-subdivision is utilised to analyse the linear stability of the rectilinear motion. The semi-discretization method is applied to provide the most stable control gains for various time delay combinations. It is shown that an appropriately increased time delay may not only expand the stable domain for the control gains, but it can also enhance the performance of the vehicle controller. The effectiveness and feasibility of the optimised hierarchical lane-keeping controller are verified through small-scale experiments.
| Item Type: | Article |
|---|---|
| Additional Information: | Funding Agency and Grant Number: National Key Research and Development Program of the Ministry of Science and Technology of China [2021YFE0116600]; National Research, Development and Innovation Office of Hungary [2020-1.2.4-TET-IPARI-2021-00012, NKFI-146201]; Chinese Scholarship Council; Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences Funding text: This research is supported by the National Key Research and Development Program of the Ministry of Science and Technology of China [grant no. 2021YFE0116600], and the National Research, Development and Innovation Office of Hungary [grant no. 2020-1.2.4-TET-IPARI-2021-00012, NKFI-146201]. J.L. is supported by the Chinese Scholarship Council. D.T. is supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. |
| Uncontrolled Keywords: | hierarchical controller; lane-keeping; Active steering system; |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > TE Highway engineering. Roads and pavements / közlekedésmérnöki, útépítési technika T Technology / alkalmazott, műszaki tudományok > TJ Mechanical engineering and machinery / gépészmérnöki tudományok T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 19 Sep 2025 10:10 |
| Last Modified: | 19 Sep 2025 10:11 |
| URI: | https://real.mtak.hu/id/eprint/224616 |
Actions (login required)
 |
Edit Item |
