A Fractional Derivative-Based Lateral Preview Driver Model for Autonomous Automobile Path Tracking

<table class="fixed-width table-group" id="tab1"><tr><td><table class="table"><colgroup><col style="width:5.54em"/><col style="width:3.53em"/></colgroup><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">Value</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left"><i>m / </i>Kg</td><td class="align_center">1700</td></tr><tr><td class="align_left"><i>I</i><sub><i>z</i></sub> / kg·m<sup>2</sup></td><td class="align_center">2200</td></tr><tr><td class="align_left"><i>a </i>/ m</td><td class="align_center">1.2</td></tr><tr><td class="align_left"><i>b </i>/ m</td><td class="align_center">1.6</td></tr><tr><td class="align_left"><i>K</i><sub><i>f</i></sub> / N/deg</td><td class="align_center">960</td></tr><tr><td class="align_left"><i>K</i><sub><i>r</i></sub> / N/deg</td><td class="align_center">1100</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of the vehicle model.</div>

Mathematical Problems in Engineering

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Table 1

Table 1: A Fractional Derivative-Based Lateral Preview Driver Model for Autonomous Automobile Path Tracking 