Vehicular Lateral Tracking Control with Winding Road Disturbance Compensation

Abstract

In this paper, an innovative vehicular lateral tracking control scheme is proposed to compensate for a winding road disturbance (WRD) on a curved road. Using a dynamic lateral motion model with look-ahead distance, we propose a WRD compensator (WRDC) to sufficiently achieve satisfactory vehicular lateral tracking control performance on the curved road in the presence of WRD. The proposed tracking control scheme is designed by the WRDC gain from the dominant state for the lateral offset in the lane keeping control. By developing the WRDC, state-space reference is redesigned to compensate for tracking error. We showed that the proposed WRDC ensures that the projected tracking error converges to zero. To verify the usefulness of the tracking control, the WRDC applied to a linear quadratic regulator (LQR) controller was compared to the standard LQR, LQR with an integrator, and LQR with an anti-windup. We observed that the proposed WRDC is not only robust against road curvature variation but also outperforming the tracking performance of LQR with anti-windup.