Abstract
Two different control methods are presented, which stabilize an automatically guided vehicle on a desired path on the road by influencing its steering angle. However, instead of controlling the path of the vehicle’s centre of gravity, the path of a fictitious point, which is located on the longitudinal axis in front of the centre of gravity and, thus, outside the vehicle’s geometry, is navigated. This special configuration causes a significant damping effect of the yaw behaviour during high speed cornering. The control system, which is presented first, is designed in absolute coordinates based on an inertial coordinate system. The second control system represents a practical application based on the results of this configuration, where the algorithms are designed regarding relative coordinates. Then, the actual position of the fictitious point can be easily determined by an optical sensor system, which is mounted on the car and, thus, subsequently the measured values can be fed back into the control module.
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