Linearization of the lateral dynamics reference model for the motion control of vehicles

A similar problem had to be solved in the project on automation of the lane change manoeuvre. The controller was built on the basis of the linearized vehicle model. This article reports the most important details of the solution, and especially some results of simulations of the control process based on the linearization of the vehicle “bicycle model” in the global coordinate frame. The virtual object to be controlled was a lorry of medium load capacity modelled as a detailed multibody nonlinear system.