A Stanley Controller Design for Enhancing Vehicle Lane Keeping and Departure Performance Using Active Rear Wheel Steering

This study proposes a Stanley controller for rear wheel steering (RWS) function development to improve lane keeping ability and serve ADAS/AD function development. Almost all RWS control applications that are implemented on commercialized vehicles are employed with reference following and feedforward control systems. Driver and vehicle inputs are used to generate reference targets and inputs to improve low-speed maneuverability and highway lateral comfort. In this study, we have proposed a Stanley controller to command rear wheel steering function to provide lane departure avoidance and enhance lane keeping performance. Lane departure warning systems and lane keeping assistance systems are activated in coaction mode in the driver assistance systems based on human-machine cooperation. In the co-action mode, driver and assistance devices act together on vehicle control. The simulation results reveal that Stanley controller can provide a robust and efficient solution with great error tracking and low control effort for the co-action control mode of the chassis control systems.