Mathematical theory of autodriver for autonomous vehicles

Introducing an independent four-wheel-steering (4WS) system, we are able to design an autodriver to keep an autonomous vehicle on a given road. The kinematic condition of steering can be used to set the steer angles such that the kinematic center of rotation be at any desired point. The road and tire characteristics, along with the dynamics of a moving vehicle cause the vehicle to turn about an actual point that is not necessarily at the road curvature center. 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.