Steering pulse model for vehicle lane keeping

Abstract

Steering control for vehicle lane keeping has attracted wide attention from both automotive industries and vehicle control researchers. Commonly used linear control models cannot adequately represent the intermitted pulse-like qualities seen in real-world, naturalistic steering measurements. Therefore, an alternative `pulse control model' (PCM) was recently proposed to take account of this property. While previous work was focused on modeling and understanding the general pulse-like steering behavior and the resulting steering dynamics, this paper aims to focus on the signal properties, especially the relationship between pulse duration and amplitude on the one hand, and near-point and far-point lane tracking errors on the other hand. The analysis of experimental results presented here demonstrates that the proposed PCM could provide a novel and plausible representation of steering control during lane keeping.