A Comparison of Two Guidance Strategies for Autonomous Vehicles
2017
This paper deals with guidance problem of autonomous vehicles. These guidance
strategies are typically based on the lateral error of the center of gravity (CoG). Recently, the
center of percussion (CoP) has been used to design a steering controllers, particularly in critical
situations. However, no comparison using the CoG and the CoP has been done to the best of the
authors' knowledge. This paper presents a comparison of two lateral guidance strategies based
on the CoG and on the CoP using the same control strategy. This last consists in a feedforward
coupled with a robust state-feedback. The performance of the strategies and the robustness of
the controllers with respect to the variation of the speed are demonstrated by simulation tests.
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