An Experimental Study on Lateral Control of a Vehicle

The work presented in this paper addresses issues regarding the implementation of an integration of several specific technologies involved in achieving lateral guidance of an experimental automotive vehicle on an automated highway. Results are shown to demonstrate the feasibility of the proposed discrete magnetic marker reference/sensing system. In addition, the performance and limitations of a PID/feedforward controller is investigated with respect to tracking accuracy of straight and curved sections as well as robustness to changes in load, longitudinal velocity, and cornering stiffness.