Abstract
Our previous research showed that a simple look-ahead model containing single adjustable parameter “look-ahead time” can express not only bat' flight motions but also driver-operated vehicle motions with accuracy. In this research, we propose a new controller for lane-tracking based on the simple look-ahead model and give a theoretical interpretation of the proposed controller. First, we show that the proposed controller is equivalent to a controller composed of two parts: i) feed forward controller using desired course's curvature to reach at 1/3 look ahead time latter, ii) error feedback controller containing proportional gains parameterized by only "look-ahead time". Next, from the stability analysis of close loop system, we clarify how the parameter "look -ahead time" affects the vehicle motion of stability and error between desired course and vehicle trajectories.
