Abstract
In this paper, we propose an adaptive lane keeping controller using the front and rear wheel steering. The developed controller does not require any accurate knowledge of all vehicle parameters, the road curvatures and the measurements of the lateral velocity. At first, a new dynamic expression for the vehicle dynamics is proposed. The dynamic expression is suitable to design a stable adaptive lane keeping controller without using the lateral velocity of vehicles. Next, an estimator is shown for unknown curvatures of target lanes, and then, we propose a method to design ideal transient trajectories for the relative lateral distance and the relative yaw angle between vehicles and target lanes. Finally, an adaptive lane keeping controller is developed. In the adaptive steering system using the developed controller, is proved theoretically that good robust performance can be achieved by setting only one design parameter.
