Abstract
Drivers’ steering model to follow the target course is described. The target yaw rate is calculated based on the
relative position of the preview point and by generating this yaw rate, the vehicle can follow the target course
as a result. In previous studies, the number of the preview point was one. Therefore, the damping ratio of the
tracking system was fixed to critical value. We have solved this problem by employing two preview points
and the curve negotiation with no steady state error can be achieved. At the same time, the dynamics of the
system can be designed arbitrarily.
