摘要：AbstractA proven lateral path following concept will be introduced in the present study. The main idea is to increase the tracking accuracy by omitting a look ahead based control law and utilizing a simple model which nicely represents the lateral vehicle dynamic. The resulting cascade control structure, as well as the vehicle dynamic model, is discussed in detail. Based on this, model-based controller tuning methods are applied for the parameterization of the individual controllers. Finally, the results are verified with real-world test drive data. Within the scope of this study, it is aimed to propose a robust and easy to tune controller structure in order to regulate the lateral movement of the vehicle in a smooth way. In accordance with that aim, it is more focused on classical control methods than the more sophisticated and computational complex control strategies.
