Parameter adaptive steering control for autonomous driving

This paper describes parameter adaptive steering control for autonomous driving. The proposed controller has been developed based on preview model of the upcoming road and on yaw rate gain which is yaw rate response to the front steering angle input. The yaw rate gain is dependent on vehicle velocity and understeering gradient. The proposed controller adapts the yaw rate gain and determine proper steering wheel angle for the tracking of desired yaw rate. Since the proposed controller is based on adapting yaw rate gain, it can be applied for any vehicles without any information on vehicle parameters. It has been shown from both simulations and vehicle tests that good path tracking performance can be obtained by the use of the proposed steering controller without vehicle parameters.