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©2013 The Japan Society of Mechanical Engineers A project to develop a platoon system, called ”Energy ITS”, has been proceeding by NEDO (New Energy and Industrial Technology Development Organization). In a platoon, several automated vehicles run as one group. The current steering controller requires the information of a road like the cant and the curvature. Using the control law which does not require it, a steady lateral distance error appears. In this paper, a new steering control method which does not require the information of a road is proposed. MMAC (Multiple Model Adaptive Control) is applied to design the feedforward part of the controller by estimating the cant and the curvature. The effectiveness of the feedforward control part is evaluated by experiments on highway.

Autonomous Steering Control with Adaptive Mechanism to Road Alignments by MMAC