The lateral position control of the vehicle is analyzed in the presence of time delay. To compensate the negative effects of dead time, the predictor control approach called finite spectrum assignment is applied. This controller includes a linear model of the plant and uses the solution of this model over the delay interval to predict the current system states. The focus of the article is whether to include tire dynamics in the predictive model of the controller. Although the more detailed model should improve control performance, the additional parameters (e.g., tire stiffnesses and yaw moment of inertia) are difficult to determine accurately. The effects of parameter mismatches are analyzed in detail, and recommendations are given to ensure safe control of the vehicle. It is shown that the inclusion of tire dynamics in the predictive model vastly improves control performance even in the presence of large parameter errors, but in certain cases, the inaccuracies may lead to instability.

在存在时间延迟的情况下分析车辆的横向位置控制。为了补偿停滞时间的负面影响，应用了称为有限频谱分配的预测器控制方法。该控制器包括工厂的线性模型，并在延迟间隔内使用该模型的解来预测当前系统状态。本文的重点是在控制器的预测模型中是否包括轮胎动力学。尽管更详细的模型应该改善控制性能，但是很难准确确定其他参数（例如，轮胎刚度和偏航惯性矩）。详细分析了参数不匹配的影响，并提出了建议以确保对车辆的安全控制。