Three look-ahead distance scheme for lateral control of vision-based vehicles

In order to realize lateral control of vehicles on an automated highway system (AHS), it is necessary to measure and/or predict vehicle deviation from the path to be followed (reference line). In this study, a simple multiple look-ahead distance scheme is proposed; in particular, simple feedback control that uses vehicle lateral deviations at three look-ahead points is proposed. Simulations are conducted for designing the optimal combination of feedback gains. The optimal feedback gains are proved to be a first-order function of a radius of the reference. The designed feedback gains are implemented on a numerical simulation, and the usefulness of the proposed method is verified.