Abstract
A lane tracking steering control algorithm with a preview point is investigated. In this system, the target yaw rate is calculated based on the lateral deviation at the preview point, and the vehicle generate the yaw rate. As a result, the vehicle can follow the target course. From the sensing point of view, it is generally required to use the preview point in the vicinity of the vehicle as much as possible. We proposed a new algorithm with two preview points and found that it is possible to make preview time shorter than one of previous algorithms. Moreover, it is possible to realize arbitrary dynamics of lane tracking performance with no steady state deviation during cornering theoretically that have not been done before. However, in our investigation, the delay of the system is not considered, such as calculation time of computer vision, so we conducted experiments with the driving simulator and verify the validity of this approximation with quantitative and subjective evaluation.
