Abstract
In order to decrease traffic accidents caused by aged drivers due to delay of perception and judgment, advanced driver assistance systems with autonomous driving intelligence is promising. This paper proposes Clothoidal Path Tracking Control System to realize vehicle can steer smoothly in urban roadways automatically. This system generates a clothoidal path which a preview point will track the desired path, and then calculates desired steering wheel angle from a clothoidal path's curvature change rate. Finally, the effectiveness of the proposed system was verified by the simulation and the experiment in the scenario course turning a right corner because vehicle could drive without departure and steer smoothly.
