Development of driver model for lane keeping manoeuvre

Em, Poh Ping and Sim, Kok Swee and Wong, Eng Kiong (2014) Development of driver model for lane keeping manoeuvre. In: Advanced Materials Research. Trans Tech Publications, pp. 165-171. ISBN 978-303835284-6

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Official URL: http://www.scientific.net/AMR.1042.165

Abstract

This paper presents a 9-degree of freedom (9-DOF) vehicle model combined with a closed-loop driver model for the purpose of developing vehicle lateral control. The driver model was developed to control the steering angle and uses a lookup table path as a reference for the control input. The proposed driver model for the outer-loop controllers are combination of proportional-integral (PI) control with a yaw effect adaptive fuzzy logic control. The outer-loop controllers were evaluated by simulation using predefined path for lane keeping manoeuvre at 80 km/h constant speeds. The simulation results show that the proposed driver model is capable of improving Y-axis trajectory error and Y-axis trajectory manoeuvres significantly.

Item Type: Book Section
Additional Information: Chapter 2: Artificial Intelligence and Data Mining, Data, Image and Signal Processing, Intelligent Automation and Control (3rd International Conference on Key Engineering Materials and Computer Science, KEMCS 2014; Singapore; Singapore; 5 August 2014 through 6 August 2014)
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical Engineering and Machinery
Divisions: Faculty of Engineering and Technology (FET)
Depositing User: Ms Nurul Iqtiani Ahmad
Date Deposited: 23 Jan 2015 07:28
Last Modified: 04 Jan 2017 10:43
URI: http://shdl.mmu.edu.my/id/eprint/5949

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