Some Inverse Solutions to an Automobile Path-Tracking Problem with Input Control of Steering and Brakes

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Abstract
An approximate inverse solution for a laterally telescoped automobile is obtained where the two inputs, namely the steering angle and the brake/tractive forces, are determined so as to perform a specified lane change maneuver. The optimal control approach is shown to be useful in obtaining some of the many feasible inverse solutions where the same tracking task is performed with different steering inputs by applying different brake/tractive forces. A comparison is made between the tractive forces required for front and rear drive automobiles when the vehicle is to be accelerated to the same final speed during the same lane-change maneuver.

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