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In this paper, steering control for passenger cars on automated highways is analyzed, concentrating on look-down reference systems. Extension of earlier experimental results for low speed to highway speed is shown to be non-trivial. The limitations of pure output-feedback of lateral vehicle displacement from the road reference are examined under practical constraints and performance requirements like robustness, maximum lateral error and comfort. The in-depth system analysis directly leads to a new alternative design direction which allows to preserve look-ahead reference systems for highway speed automatic driving.

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Lateral vehicle control for passenger cars, a vital control subsystem of Automated Highway Systems (AHS), has been studied for several decades. Different reference systems have been examined for detecting the lateral vehicle displacement from the lane center. Implementations of 'look-down' reference systems, however, encountered practical constraints, limiting driving speed to approximately 20 m/s under realistic conditions. This paper presents new perspectives on design directions for lateral vehicle controllers under practical AHS conditions for a variety of reference systems. A number of experimental results support the findings of this study.

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