Designing a Tracking Controller for Passenger Cars with Steering Input

Abstract

The results presented in the paper were motivated by a practical application. The goal was to design a parking assist system for a passenger car such that the assist is realized by controlling the steering wheel while the human driver handles the pedals (throttle, clutch and brake pedals) of the vehicle and thus generates its velocity. The tracking control of the car with the single steering input is achieved by a novel time-scaling based controller. The solution was tested in simulations and also in a real vehicle.