Steering technology of autonomous vehicle based on C-EPS and fuzzy control theory

Engineering notes

Results Performance evaluation shows that the proposed controller achieves a stability time of 0.18 s and 0% overshoot, outperforming the comparison controller. Additionally, at 25 km/h, it maintains a centroid lateral deflection angle of 0.2°, demonstrating superior stability.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。

Original abstract

Background With the rise of industrial modernization, autonomous vehicle steering technology is becoming increasingly vital for safety and precision control. However, the Electric Power Steering (EPS) system commonly used in autonomous driving faces challenges such as insufficient steering angle accuracy and large response delays. Methods This study proposes a system model based on a column EPS system and designs a controller integrating the fuzzy control theory with a proportional-integral-derivative method. Results Performance evaluation shows that the proposed controller achieves a stability time of 0.18 s and 0% overshoot, outperforming the comparison controller. Additionally, at 25 km/h, it maintains a centroid lateral deflection angle of 0.2°, demonstrating superior stability. Discussion The above quantitative results fully demonstrate that the research has solved the problems of insufficient steering angle accuracy and significant response delay. These findings highlight the controller’s practical value in optimizing autonomous vehicle steering, improving safety, and advancing steering control theory.

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