Modeling and control of steering using road way magnets

Automated steering control is a crucial element of vehicle automation. The California PATH Program at the University of California at Berkeley has developed one such system using magnetic markers embedded under the roadway for lateral guidance. This system was demonstrated during the August 1997 National Automated Highway System Consortium Feasibility Demonstration, San Diego, CA, without a single failure. Developing a successful demonstration system not only required theoretical understanding of the various control problems involved, but also strong appreciation of all practical issues. In this paper, the comprehensive process of developing such automated steering control system is described. This process consists of control objectives' determination, system structure definition, vehicle dynamics validation, lateral sensing system development, steering actuator design, test track installation, control algorithm development, software/hardware integration, and vehicle testing. The entire process also serves as a good case study for mechatronic system design integrating mechanical components, electronic devices, intelligence, and feedback control to perform vehicle automation functions.