Lane Keeping Control With Delay Compensation and Disturbance Estimation

The patent applies preliminary action by predicting the future steering-wheel steering angle based on the current front-wheel steering angle and estimated time delay. The controller calculates a predicted steering angle that compensates for the anticipated delay, allowing the system to proactively adjust for the time lag rather than reactively correcting oscillations after they occur. This predictive approach maintains lane keeping stability without requiring complex real-time conversion mechanisms.

The patent implements feedback by continuously monitoring the actual steering-wheel steering angle and comparing it with the commanded angle. The difference (error) is fed back to the controller, which adjusts the front-wheel steering angle command to compensate for time delay effects. This closed-loop feedback mechanism improves lane keeping performance by actively correcting deviations caused by time delay, while maintaining relatively simple system architecture through straightforward feedback computation.

The patent applies preliminary anti-action by introducing a compensatory term in the control algorithm that specifically counteracts the time delay effect. The controller calculates a compensation angle based on the estimated time delay and current steering rate, then adds this compensation to the basic steering command. This preliminary counter-action prevents oscillation and performance degradation by neutralizing the harmful effects of time delay before they manifest as instability, while keeping the overall control algorithm relatively simple through targeted compensation rather than complete redesign.