On the steering control of automated vehicles

Path tracking control of car-like wheeled vehicles is considered. In a planar motion, the equations governing the behaviour of a vehicle express the dynamics of the lateral and yaw motion velocities and the two tracking errors, the offset and the heading error from a prespecified path. With an appropriate feedback of the two errors the path tracking behaviour of the vehicle can be guaranteed. In this paper it is shown that it is possible, as well as correction of the path tracking errors, to improve the ride comfort in a passenger vehicle with the feedback of the errors without the necessity for yaw motion feedback