Automatic Lateral Control of Vehicles. Theory and Experiment

Abstract

The theoretical and experimental work done in developing an automatic track-controlled vehicle is described. In this vehicle a controller performs the steering, normally carried out by the driver. The following subject is dealt with: (1) finding the model of the vehicle (2) measuring the frequency responses of the vehicle (3) analysing the development steps necessary to obtain optimal behaviour of the controlled vehicle (4) describing and evaluating the design methods used to find optimal controllers (5) experimental testing of the driving behaviour of the controlled vehicle. As a result of the studies a prototype vehicle was constructed with which, for the last six months, driving tests have been performed on a special test track. (TRRL)