Design of Steering Controller of Automated Driving Bus at Middle Speed Range

The reason of oscillating motion in steering of an automated driving bus at middle speed range is revealed and feedback control with six variables, including front tire angle, is proposed to damp the oscillation. Real-time kinematic GNSS with centimeter accuracy is used for self-localization and the angle of the steering wheel is controlled by a motor equipped on the steering shaft. Root locus method considering the relation between lateral error and feedback gains indicates damping of the motion of the vehicle become smaller at middle speed range than at low speed range. The numerical simulation and experimental results show the six state variables feedback control has an advantage in obtaining high damping ratio with avoiding the vehicle leaving the travelling lane under the influence of the lateral wind and the transverse gradient.

• Record URL:
  https://doi.org/10.11351/jsaeronbun.50.1569
• Record URL:
  https://www.jstage.jst.go.jp/article/jsaeronbun/50/6/50_20194910/_pdf
• 
• Record URL:
  https://scholar.google.com/scholar_lookup?title=Design%20of%20Steering%20Controller%20of%20Automated%20Driving%20Bus%20at%20Middle%20Speed%20Range&author=T.%20Ando&author=Y.%20Zhou&author=W.%20Kugimiya&author=F.%20Momiyama&author=K.%20Aoki&author=K.%20Nakano&publication_year=2019
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/02878321
• Authors:
  • Ando, Takayuki
  • Zhou, Yongkang
  • Kugimiya, Wataru
  • Momiyama, Fujio
  • Aoki, Keiji
  • Nakano, Kimihiko
• Publication Date: 2019-11

Language

• English
• Japanese

Media Info

• Media Type: Digital/other
• Features: Figures; Photos; References; Tables;
• Pagination: pp 1569-1574
• Serial:
  • Transactions of Society of Automotive Engineers of Japan
  • Volume: 50
  • Issue Number: 6
  • Publisher: Society of Automotive Engineers of Japan
  • ISSN: 0287-8321
  • EISSN: 1883-0811
  • Serial URL: https://www.jstage.jst.go.jp/browse/jsaeronbun
• Publication flags:

  Open Access (libre)

Subject/Index Terms

• TRT Terms: Automatic steering control; Buses; Damping (Physics); Electronic controllers; Equipment design; Feedback control; Intelligent vehicles; Motor vehicle dynamics
• Subject Areas: Data and Information Technology; Design; Highways; Public Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01726550
• Record Type: Publication
• Source Agency: Japan Science and Technology Agency (JST)
• Files: TRIS, JSTAGE
• Created Date: Dec 23 2019 5:13PM