| Summary: | 碩士 === 國立交通大學 === 機械工程系 === 89 === One of the important issues in the society is the traffic congestion especially on highways, and it has been existed for a long while. More recently, due to the deteriorated traffic congestion on highways, steering control of automated vehicles has been studied extensively in the context of Intelligent Transportation Systems﹙ITS﹚among researchers throughout the world in the past several years. Besides, automated steering control has been a fascinating research topic in the area of Advanced Vehicle Control Systems﹙AVCS﹚. According to the goal of the steering control, it can be separated into driver-assisted steering control and fully automated steering control. In the thesis, the designed method and simulated programs including the graphical user interface（GUI） are proposed. The concept of the designed method is referenced to the dynamic look-ahead scheme proposed by C.Chen. And the resulting steering system can be simplified into a double-integrator vehicle dynamics with a constant open-loop gain, therefore the difficulties of designing controller have been made more easily. Then the disturbance observer has been implemented in order to ensure the robustness of the steering system and the control law, and the establishment of the simulated programs and GUI is to verify the accuracy and practicability of the designed method.
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