The design of a look-down feedback adaptive controller for the lateral control of front-wheel-steering autonomous highway vehicles

Abstract

An adaptive control law and a distance rate observer were del eloped for the lateral control of autonomous vehicles. The control law and the observer were implemented on a passenger vehicle. The test results show that both tight lateral tracking control and smooth steering can be achieved without feed forward information. The developed control law is shown to be very robust to changes in the most critical vehicle control parameters.