Design of an Automated Steering Controller with Steering Actuator Dynamics and Adaptive Preview Time
نویسندگان
چکیده
An automated steering controller is proposed to track the target path in this paper. Model predictive control is employed to design the controller based on a 5-state road following bicycle model including the steering actuator dynamics. The adaptive preview time is reduced for an increased path geometry change index due to driving from a straight road into a sharp curve. The preview time is increased for the other way around. Simulation results show that the proposed algorithm can effectively reduce the path following error while reducing the lateral acceleration and jerk for the lane following and lane change maneuvers.
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