Control of Vehicle Lateral Dynamics on Race Circuits with Variable Speeds

In the broader context of the automotive industry, a significant percentage of investments are directed towards the development and implementation of advanced automated driving systems aimed at enhancing the safety of drivers and other road users during driving. This study proposes a control method for an automatic lane-keeping system based on a lateral dynamic model with error correction, specifically targeting the minimization of position and orientation errors. The objective is achieved by implementing a state-feedback control approach combined with feed-forward control, resulting in a combined control strategy that ensures both anticipation of the system dynamics and effective error correction. The framework is augmented by utilizing a trajectory derived from real-world coordinates, complemented by the integration of variable longitudinal speed, which directly influences the vehicle's lateral dynamics. This variable speed approach enhances the realism of the system by closely mimicking the dynamic behavior of a vehicle under actual driving conditions. Overall, the study demonstrates the effectiveness of the proposed control method in minimizing errors encountered during vehicle motion, ensuring precise lane-keeping, and improving both efficiency and safety in driving scenarios.