Parameter Plane Studies of Car-Steering Stability with Combined Lateral and Previewed Error-Sensing by the Driver

Abstract

Parameter plane curves of the driver's minimum preview distance for stability (P) versus his gain (K_D) are derived. These curves represent the boundaries for absolute or relative stability of the complete car—driver system. The driver's error input is assumed to be a weighted sum of his lateral position error and predicted error at the preview distance, P. This results in a simple steering strategy which, in simulation studies, will permit the car to be driven on winding roads.

Part 1 is restricted to straight roads and compares the parameter plane and gain-crossover theories. Tracking accuracy in a steady turn is improved by a steering strategy in which the driver acts on both the lateral and previewed errors. It is shown that the lateral error becomes zero if the preview, P, equals an optimal value, P_m, depending on the speed and radius of the turn. The stability plots for straight roads are adapted to the determination of stability in turns. A computer simulation of a car driven on a road S-bend provides information on stability, tracking accuracy and optimal preview distances which correlate with the results of the other studies in Part 2.

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