Abstract
Our previous study reported a look-ahead bio-mimetic controller for lane-keeping based on a bat′s flight model. The look-ahead controller consisted of feedback of look-ahead angle and achieved good tracking even when course curvature changed. However, the look-ahead controller could not achieved good damping. In this paper, we propose a look-ahead controller added feedback of lateral deviation. First, root locus shows that the proposed controller improves damping. Next, numerical simulations show that the proposed controller achieves both good tracking and good damping. Finally, actual vehicle test validates the proposed controller.
