Steering Control for Autonomous Vehicles

N. Natarajan, A. Mordovanaki, A. Cahill, and B. Schaar (USA)


Automotive and Transportation Systems, Intelligent Vehicles, Intelligent Control, Feedback Control


This paper discusses a control scheme for smooth steering of autonomous vehicle equipped with a vision system. The scheme is based on steering towards a target point in the image. It is shown that the scheme has several desirable properties: It is equivalent to state feed back schemes, (b) it can track linear and curved paths, (c) the closed loop system has a desirable damping ration of 0.707, (d) calibrating the control is relatively simple. Implementation of the scheme on an autonomous vehicle is described.

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