ABSTRACT The automation of vehicle steering is necessary in order to guarantee safe vehicle following in short-distance vehicle following applications. A necessary (safety) requirement for such automation strategy is lateral string stability. In this paper, a design for cooperative lateral controllers is proposed that yields a laterally string-stable platoon. The dynamics of the vehicles in the platoon are described using the dynamic bicycle model. The proposed controller is designed using the control framework which achieves firstly, lateral string stability and, secondly, path-following, where the path is induced by the preceding vehicle in the platoon. Such control design approach is taken since it allows for the inclusion of the string-stability requirement as an a-priori design specification. The properties of the designed controller are evaluated by means of frequency domain analysis and numerical simulations and compared with a benchmark controller.

中文翻译：

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协同驾驶应用中的串稳定自动转向

摘要 为了保证车辆在短距离跟车应用中的安全跟车，车辆转向的自动化是必要的。这种自动化策略的必要（安全）要求是横向串稳定性。在本文中，提出了一种协作横向控制器的设计，它产生了一个横向串稳定的排。使用动态自行车模型描述排中车辆的动力学。所提出的控制器是使用控制框架设计的，该框架首先实现横向串稳定性，其次实现路径跟随，其中路径由排中的前车诱导。之所以采用这种控制设计方法，是因为它允许将串稳定性要求作为先验设计规范包含在内。