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Open Access Publications from the University of California

On Fundamental Issues Of Vehicle Steering Control For Highway


This paper discusses fundamental issues in lateral control design for automatic steering of passenger cars within an Automated Highway System ( AHS). A detailed analysis using time and frequency domain tools together with physical insight into the vehicle dynamics is presented. Several design directions are investigated, both for look-down and look-ahead systems. In order to preserve the qualities of look-down systems, the concept of virtual look-ahead via additional yaw error and yaw rate error measurements is introduced. The authors conclude that proportional-type feedback design suffices if the lateral vehicle dynamics itself provide phase lead for stabilization. On the other hand, a phase lead controller is required for shorter look-ahead distances.

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