This paper describes the verification of the ADVANCE-F lateral controller for steering automation by executing field tests. The result shows that the controller performs satisfactorily and stably in high speed situations, particularly beyond 30 kph, and the analysis reveals that the automatic steering mode has a capability to overcome the original vehicle's deficiencies in body dynamics caused by unbalanced loading, missed alignment or photo sensors disposition distortion. Some occupants may feel uncomfortable due to high frequency response of steering. Fortunately, the frequency drops within the acceptable range for most passengers, and the plan is being proposed for improvement. Additionally, the transition from manual to automatic mode needs about 3 to 4 seconds delay before the machine fully takes over.
Abstract