Lane Tracking Control for Motorcycles when Running Curved Path

Abstract

This study examines a lane tracking control for motorcycles when running a curved path to develop a lane-keeping-assistance system. Two-degree-of-freedom controller which consists of feedforward and feedback controllers is designed for running a curved path. The feedforward control is based on a known curvature of a desired lane, and the feedback control is based on vehicle's state deviations from an equivalent point during a steady turning. This controller makes it possible to follow a desired lane in a curved section.