Citation

Horiuchi S, Tamatsukuri T, Nohtomi S. JSAE Rev. 2000; 21(1): 53-59.

Copyright

(Copyright © 2000, Society of Automotive Engineers of Japan, Publisher Elsevier Publishing)

DOI

10.1016/S0389-4304(99)00076-4

PMID

unavailable

Abstract

This paper proposes a new design method of a lane tracking control system based on Generalized Predictive Control theory. The proposed system realizes the preview control without the 'perfect measurement' assumption. A series of computer simulations and frequency domain analyses were carried out to show the validity of the proposed control system. In comparison with a lane tracking system using preview LQI control algorithm, it is shown that this controller achieves good lateral tracking performance and improved ride quality due to small variations of lateral acceleration.