Vehicle Path Tracking Using Future Prediction Steering Control

Trajectory tracking is one of the important aspect in autonomous vehicle. Therefore, this paper proposed a stable tracking control for autonomous vehicle. An approach that consists of steering wheel control and lateral control is introduced. This control algorithm is used for nonholonomic navigation problem which is tracking a reference trajectory in a close loop form. Future prediction point is used to calculate the vehicle lateral error is introduced. Controller based on steering wheel angle and yaw rate of the vehicle is introduced. The controller consists of relationship between future point lateral error, linear velocity, heading error and reference yaw rate. The effectiveness of the proposed controller is demonstrated by using simulation.