In this work, a new method to stabilize a vehicle, which is autonomous
ly guided on the road by an optical sensor, is presented. Since the be
haviour of a vehicle is nonlinear and contains mutual couplings in the
dynamical variables, the design especially of algorithms for transver
se control is based on the universal valid principle of feedback linea
rization. This method works independently from any operating point and
, thus, a high degree of accuracy and free pole assignment for the ove
rall system is provided. The design of the control system is based on
absolute angular velocities. A strategy transforming these variables i
nto a relative system by an adequate transformation is described. Thus
, the control error of the angle describing the direction of movement
is forced to disappear. As all essential nonlinearities are compensate
d, a linear behaviour with free pole assignment can be imposed on the
overall system. Disturbances are handled by an integral term in the co
ntrol algorithm. Thus, stability and convergence can be guaranteed eve
n in the case of constant disturbances.