Automatic Car Steering using Robust Unilateral Decoupling

Abstract

Abstract: In this paper a steering controller is derived using robust unilateral decoupling control. By this method automatic car steering can be split into two subtasks: a) good lane tracking of a point mass for stepwise change of the curvature of the lane reference and for lateral force disturbances and b) good yaw stabilization in the presence of yaw torque disturbances. In the design process the track following controller and the controller stabilizing the yaw rate are designed separately. A Daimler Benz City Bus O 305 used in the Prometheus program and a Pontiac 6000 STE Sedan used in the PATH program give the practical background. In the latter case with higher velocities gain scheduling by the velocity is used. Simulations for these two cars illustrate the advantages of the developed structure.