This paper provides a broad review of the developments that have taken
place within the past thirty years in the field now known as Advanced
Vehicle Control Systems (AVCS). This long time horizon was chosen to
ensure that significant findings from earlier generations of work are
not overlooked today. Following a history of the international develop
ment of AVCS, several methods of classifying AVCS are introduced. The
main body of the paper reviews the relevant literature in lateral, lon
gitudinal and integrated control of road vehicles and summarizes the m
ost significant findings from this work.