Automatic lateral vehicle guidance using tracking control - a modular approach to separate driver- and vehicle-dependent dynamics

In this contribution, tracking control is applied to the lateral guidance of vehicles. An advantage of this approach is a separation between the control scheme depending on the dynamics of the specific vehicle and the trajectory generation. The latter one consists of an idealized model which does not contain any vehicle-specific parameters; the dynamics of the lateral guidance are assigned by a model feedback independent of the vehicle dynamics on the basis of the desired driving behavior. The control scheme has to be adapted to each type of vehicle; if the dynamics of the vehicle is known, this can be done systematically with respect to control engineering aspects.