Stability Analysis of Lane-Keeping Assistance System for Trucks under Crosswind Conditions

Abstract

To enhance the control accuracy of lane-keeping assistance systems for trucks encountering crosswind-induced lateral deviations to improve the lateral stability of the vehicle, this study proposes a control strategy based on a linear quadratic regulator (LQR) using a path-tracking preview model. First, the lateral deviation is calculated using the path-tracking preview model. Then, an observer for the vehicle’s sideslip angle is designed using a vehicle lateral tracking deviation model and a Kalman filter controller, and this is used to solve the deviation of the sideslip angle. Finally, a feedforward controller is designed based on the LQR controller and a linear two-degrees-of-freedom vehicle model to eliminate steady-state errors arising from LQR optimization, thereby obtaining the steering angle of the vehicle when subjected to crosswind conditions. Comparing the test results of the sideslip angle, yaw rate, and lateral acceleration demonstrates that this strategy effectively improves the control accuracy of lane-keeping under crosswind conditions. The proposed method is validated through hardware-in-the-loop experiments on a test bench, yielding results consistent with simulations.

A Method to Develop the Driver-Adaptive Lane-Keeping Assistance System Based on Real Driver Preferences

“…One study [ 41 ], considering the roll dynamics and network-induced delays, proposed a new multi-input, multi-output linear parameter-varying controller for path-tracking control. Another study [ 42 ] proposed a strategy based on the path-tracking preview algorithm and the LQR controller to improve the lateral stability of the vehicle and address the crosswind issue during driving. Compared to the above methods, sliding mode control is not only simple to implement but also robust to external disturbances.…”

In-vehicle network latency analysis for a lane keeping assistance system

“…Furthermore, we employed the broadly used LKAS evaluation metric, lateral error distance, to analyze the impact of IVN latency on the primary autonomous driving function, LKAS. Lateral error distance assists in evaluating the extent to which the vehicle deviates from its intended position [10]- [12]. Considering allowable errors vary with vehicle size, we analyze the feasibility of actual LKAS support by taking into account the maximum allowable lateral distance threshold based on vehicle size.…”

The Effects of Different Drivers’ Steering Inputs on the Response of Heavy Ground Vehicles to Crosswind Disturbances

“…Inherently, a multidisciplinary approach is required to comprehensively understand the effects of each characteristic. Thus, the number of studies aimed at elucidating the knowledge of the effects of crosswinds on vehicles has increased in recent years [6][7][8][9][10][11][12][13][14][15]. For instance, Tunay [6] investigated the effects of various crosswind frequencies.…”

“…Sekulic et al [12] conducted a study to investigate the impact of wind loads and the movements of a floating bridge on the lateral stability of a bus in an actual on-road scenario. Moreover, comprehending the sensitivity of heavy ground vehicles to crosswinds has become the subject of many studies in recent years [13][14][15].…”