Constrained optimal control for lateral vehicle guidance

This paper presents a new approach of lateral vehicle control. The lane keeping task is looked at as a constrained optimal control problem. Constrained optimal control can compensate for system time delays and first order system response behavior of low-level sub-systems. Physical system constraints as well as constraints imposed by comfort and safety considerations can be taken into account and balanced in the controller design process. This yields significant advantages over standard control approaches. Simulation results as well as results obtained with a real test vehicle are provided.