Path-following Control for Front-steering Vehicles Based on Time-state Control Form Using Travel Distance as a Virtual Time-axis

Abstract

In this paper, we propose a path-following control for front-steering vehicles based on time-state control form (TSCF) using travel distance as a virtual time-axis. The technique of TSCF can transform the nonlinear dy- namics of front-steering vehicles into two linear subsystems. The proposed method uses a travel distance as a virtual time-axis based on geometric relationship between controlled vehicle and reference path. This method can realize path-following control independent of vehicle heading angle. In addition, we utilize the proposed method in model predictive parking control considering the constraints of vehicle steering angle, travel range and singular point. This method can realize parking control in the area larger than the conventional method. The performance of proposed method is verified through numerical simulations and experiments with a one-tenth scale model car.