Lateral and longitudinal controls of a vehicle

The proposed controller uses only the desired path as input to the lateral control. A retroaction with prediction of the state of the vehicle is then compared to the desired path, by a projection on to the latter which is not a function of time. This comparator reduces the dependence between the lateral and longitudinal speeds, since a change of speed does not imply a change in the desired path. The controller structure consequently uses an anticipatory control whereby the effect of delays in the system can be reduced considerably. A practical example is simulated to illustrate the potential of the new controller.