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Unified Control Design for Autonomous Vehicle 317

2.5

2

Velocity (m/sec) 1.5

1
Leading
0.5
p=0.5
p=1
0 p=2
p=3
– 0.5
0 10 20 30 40 50
Time (sec)

FIGURE 8.6 Vehicle velocity v for different values of p.

20
Leading
15 p=0.5

p=1
10
p=2
Steering angle (°) – 5
5
p=3
0

– 10

– 15

– 20
0 10 20 30 40 50
Time (sec)

FIGURE 8.7 Steering angle γ for different values of p.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 317 — #23