Lateral vehicle guidance control for autonomous and cooperative driving

A robust controller for lateral vehicle guidance is proposed. By adaptation of the controller compliance autonomous driving as well as different levels of cooperative driving can be realized. The controller structure is based on the disturbance observer to ensure good steady state tracking performance and disturbance attenuation. The parameter space method is applied to incorporate eigenvalue and frequency magnitude specifications into the controller design and robustness analysis due to structured and unstructured uncertainties of the vehicle dynamics and the steering system.