Vision based lateral control by yaw rate feedback

In an autonomous vehicle, the reference lane is continually detected by a machine vision system. The vehicle is steered to follow the reference yaw rates which are generated by the deviations of lateral distance and the yaw angle between the vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, a PI controller is introduced for the yaw rate feedback. It is tuned by the simulation in which the vehicle is modeled as 2 DOF and 79 DOF and is verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.