Ideal Reference Point in Planning and Control for Automated Car-Like Vehicles

The choice of the reference point in automated vehicles impacts vehicle’s driving behavior. However, this influence is often not considered for planning and control tasks. To find out where should be located best, we first consider its position to ideal if needed lane width on left right side planned path equal when cornering with constant curvature. For constantly curved paths derive depending curvature, using kinematics a slip angle free bicycle model. non-stationary cornering, analyze different maneuvers finally, select front axle. Utilizing knowledge, extent forward moving vehicle can reduced model, which does require orientation vehicle. This enables simple still promising approach collision checking, space approximated by only one circle around point. Finally, lateral feed-forward controller. Thus, confirm previously chosen axle equally distributed therefore recommend use.