Towards A Generic Lateral Control Concept For Cooperative Automated Driving Theoretical And Experimental Evaluation
2017 5TH IEEE INTERNATIONAL CONFERENCE ON MODELS AND TECHNOLOGIES FOR INTELLIGENT TRANSPORTATION SYSTEMS (MT-ITS)(2017)
Abstract
Lateral vehicle control is an essential part for many automated and cooperative driving applications. Lane keeping and vehicle following are typical modes of such control system. The aim of this paper is to develop a generic lateral controller that can handle these different modes. Based on the available measurements, either path or single point preview information is used in the feedback loop of the controller, while controller parameters and adaptive gains are unaffected. The paper contains theoretical analysis and discusses the results of simulations and vehicle experiments.
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Key words
lateral vehicle control, automated steering, path tracking, vehicle following
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