On the global dynamics of path-following control of automated passenger vehicles

Abstract The nonlinear dynamics of the path-following control passenger cars is analyzed in this paper. effect specific modeling aspects, such as tire deformation, steering dynamics, feedback delay and controller saturation, considered. Possible equilibrium points singularities state space are uncovered for different vehicle model designs. stable path following then greater detail: domains stabilizing gains presented stability charts basin attraction along domain approximated with help numerical continuation. Unsafe zones highlighted, where surrounded by low-amplitude unstable limit cycles. Finally, it shown how modifications law can remove unwanted increase following, resulting safer more reliable vehicle.