Autodriver algorithm for autonomous vehicles

In a recent research a superior algorithm has been introduced to design an autodriver to keep an autonomous vehicle on a given road using independent four-wheel-steering (4WS) system. The kinematic condition of steering sets the steer angles such that the kinematic center of rotation of the vehicle be controlled on a two dimensional space. The vehicle however, will turn about an actual point that is not necessarily at the road curvature center; because of the road, tire characteristics, and dynamics of the moving vehicle. The algorithm shows how the position of the dynamic turning center can be controlled by adjusting the steer angles such that it coincides with the road curvature center. Such a vehicle will move on the desired road autonomously.