Lateral trajectory tracking control for autonomous vehicles

In this contribution a structure for high level lateral vehicle tracking control is presented. It is based on the two degrees of freedom structure that allows to separately define the command response and disturbance attenuation. The application of the disturbance observer guarantees robust compensation of the disturbances. An advantage of the presented structure is its robustness against variable vehicle parameters. Only a considerably reduced model is necessary which significantly simplifies the application process. Moreover the presented approach is characterized by its extensibility and its modularity.