Design of lane-keeping control with steering torque input.

This paper presents the dynamical modeling and identification of a vehicle in which steering torque is controlled, not the steering angle. A lane-tracking control system has been designed on the basis of H2 control theory. The robustness of this system against the nonlinearity of the vehicle was confirmed by mu-synthesis. The performance and robustness of the controlled vehicle were analyzed experimentally and by computer simulation. The design was tested under actual driving conditions and was found to perform well.