✦ LIBER ✦

Study on automatic path tracking using virtual point regulator

✍ Scribed by Yoshitaka Marumo; Hiroshi Mouri; YuQing Wang; Takayoshi Kamada; Masao Nagai

Book ID: 104341958
Publisher: Elsevier Science
Year: 2000
Tongue: English
Weight: 348 KB
Volume: 21
Category: Article
ISSN: 0389-4304
DOI: 10.1016/s0389-4304(00)00081-3

No coin nor oath required. For personal study only.

✦ Synopsis

This study discusses a vehicle path tracking strategy using a virtual point ahead of the vehicle to trace the desired path. Although the vehicle center of gravity can also be employed for the tracking, it is impossible to design the yaw control independently from the controlled lateral motion. By contrast, the yaw motion, as well as the lateral motion, can be controlled to obtain its own desired performance when the virtual point is used for the tracking, although this applies with certain reservations. Additionally, employing the virtual point also secures good robust stability and disturbance suppression performance of the control system.

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