抄録
This paper describes a hierarchical control system that first calculates a target yaw rate from the relative relationship between the host vehicle's present position and the point it should reach after a certain elapsed time and then tracks that yaw rate. As a result; the system can be achieved with no more than a second-order controller. In many cases, such an intuitive control system loses its optimality, but it has been shown analytically that the control performance obtained with the method proposed here is nearly equal to the dynamic lane tracking characteristic that is achieved when optimal control is used.
