ANALYSIS OF AUTOMATIC STEERING CONTROL FOR HIGHWAY VEHICLES WITH LOOK-DOWN LATERAL REFERENCE SYSTEMS

In this paper, steering control for passenger cars on automated highwa ys is analyzed, concentrating on look-down reference systems. Extensio n of earlier experimental results for low speed to highway speed is sh own to be non-trivial. The limitations of pure output-feedback of late ral vehicle displacement from the road reference are examined under pr actical constraints and performance requirements like robustness, maxi mum lateral error and comfort. The in-depth system analysis directly l eads to a new alternative design direction which allows to preserve lo ok-ahead reference systems for highway speed automatic driving.