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.

Keywords

• lane-keeping assistance
• crosswind
• linear quadratic regulator controller
• hardware-in-the-loop experiments