Controller Design and Evaluation of Lane-keeping-assistance System for Motorcycles

This study seeks to design a lane keeping controller for motorcycles and evaluate it by computer simulation with a 4-degree-of-freedom model and a rider control model. The authors applied the optimal control theory to the lane keeping controller as a model-based control. By examining the computer simulation with the rider-in-the-loop system consisting of the motorcycle, the controller, and the rider control model, good lane following performance is achieved without interference between the control input and the rider's input. In addition, the virtual point regulator, which compensates the lateral displacement at the virtual point ahead of the vehicle, corresponds to not only the steering torque disturbance but also the lateral force disturbance by choosing the distance to the virtual point.

  • Authors:
    • Katagiri, Nozomi
    • Marumo, Yoshitaka
    • Tsunashima, H
  • Publication Date: 2009

Language

  • English

Media Info

Subject/Index Terms

Filing Info

  • Accession Number: 01150907
  • Record Type: Publication
  • Files: TRIS
  • Created Date: Feb 11 2010 6:41PM