Lateral adaptive control for vehicle lane keeping

We deal with the vehicle lateral control problem. More precisely, we solve this problem by properly applying the self-tuning regulator proposed in [Marino, R and Tomei, P (1995)] to the concerned vehicle lateral model. The interest of this solution is that only the lateral displacement at a look-ahead distance is used as the measure for the controller. From a practical point of view, this measure can be obtained through a vision system. Also, all the parameters are considered unknown, where it is only assumed that they belong to a known compact set. The controller is also robust to variations on curvature and lateral wind. Simulations illustrate the efficacy of the controller.