Abstract
This paper deals with lateral disturbance compensation algorithm for an application to a Motor Driven Power Steering (MDPS) based driving assistant system. The lateral disturbance such as wind force and load from bank angle reduces the driver refinement and increases the possibility of an accident. In order to reduce the maneuvering effort of the driver in the disturbing situation, the lateral disturbance compensation algorithm has been proposed. The characteristics of the compensation system including a human driver model and the steering system have been mathematically analyzed. The control strategy using the motor overlay torque as a control input which improves the human steering behavior under the lateral disturbance has been proposed. A numerical simulation of the proposed algorithm has been conducted by full vehicle model and lateral driver model which represents steering behavior of human driver. The human torque and lateral deviation under the lateral disturbance are confirmed to be reduced by the simulation results.
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