車両の横方向制御の相関に関する考察

抄録

Automated driving systems have been developed to improve safety. In these systems, various lateral control methods have been proposed up to recent years. Preview/Predictive Driver Model, Path Following Control, and Optical Flow Control are a part of these lateral control methods. The purpose of these methods is the same, that is to track a target path. However, a lot of control theory with various types of control input are introduced into each control method, so that comparing these methods only by theoretical analysis is more difficult than doing the results of numerical simulations and experiments. In this paper, these control methods are derived and compared based on the theoretical analysis only. Finally, we show the consideration on correlation of these lateral control methods.