Preview Control for Vehicle Lateral Guidance in Highway Automation

Continuous deterministic preview control is applied to the vehicle lateral contol problem. It is shown that the preview control consists of a feedback term and two feedforward terms. If the preview control algorithm is applied on the FSLQ augmented system, the feedback term will be exactly the same as the FSLQ feedback control law. Therefore, the advantages of the FSLQ control law (robustness on measurement noises, including ride quality explicitly in the performance index, etc. see [1]) remain in the preview control law. Frequency-domain analysis and numerical simulation results are presented to show the improvements introduced by utilizing preview control in both the time domain and the frequency domain.