Study on automatic path tracking using virtual point regulator

Abstract

This study discusses a vehicle path tracking strategy using a virtual point ahead of the vehicle to trace the desired path. Although the vehicle center of gravity can also be employed for the tracking, it is impossible to design the yaw control independently from the controlled lateral motion. By contrast, the yaw motion, as well as the lateral motion, can be controlled to obtain its own desired performance when the virtual point is used for the tracking, although this applies with certain reservations. Additionally, employing the virtual point also secures good robust stability and disturbance suppression performance of the control system.