I. Nomenclature
Variable Description Source position of the autonomous vehicle in and - Current position of the autonomous vehicle in and Destination position of the autonomous vehicle in and Final position of the autonomous vehicle in and Position error of the autonomous vehicle in and Current, final, destination, error of angular orientation Current lateral, longitudinal and angular velocity Derivative values Steering wheel torque and road reaction torque Steeering column stiffness and constant of motor torque Steering wheel angle and motor angle Steering column pinion radius and stiffness of column Steering column viscous and equivalent damping Motor current, dc voltage, inductance and resistance Motor gear ratio Moment of inertia of steering column and its equivalent Proportional, derivative and integral gains Tire spring rate and road reaction force