Path Following Control of Intelligent Vehicle Based on Curvature Smoothing

The state-space representation of the vehicle steering dynamics was developed.A clothoid curvature smoothing algorithm was presented according to the road curvature information from the GPS system and digital map.The actual road reference with the curvature transition was smoothed by using this algorithm.The results of the simulation show that a smoother ride and a smaller following error at the curvature transition are achieved with the clothoid smoothing algorithm.