자율 주행 차량의 횡방향 안정성을 위한 외란 관측기 실험적 검증

Abstract

An uncertain lateral disturbance causes dangerous yaw motions of vehicles and unexpected steering angle perturbation. The lateral disturbance is compensated by additional steering torque input from a state space disturbance observer. The state space disturbance observer requires no accurate modeling of lateral disturbance. Usefulness of robust vehicular steering control system is validated through experiments.