抄録
A lane tracking steering control system with a preview point was described. The system is the target yaw rate is calculated based on the lateral deviation at the preview point and the vehicle can follow the target course by being controlled to generate the yaw rate. In previous studies, the damping ratio of the tracking system was fixed to critical value. We proposed a new algorithm with two preview points and found that it is possible to achieve arbitrary dynamics of lane tracking performance with no steady state error. Moreover, it is possible to make preview point shorter than one of preview algorithm.
