Survey on control schemes for automated driving on highways

Abstract

This survey focuses on trajectory tracking controllers of advanced driver assistance functions for comfortable and safe automated driving on highways. A short introduction to today’s driver assistance functions and their control objectives is given. Different control schemes that have been proposed during the past few years are discussed, including essentially PID control, fuzzy control, optimal state feedback controllers, sliding mode control, and model predictive control. The separation of longitudinal and lateral dynamics as well as their combination is tackled. In addition to the control design for assistance functions, this work lists prominent controllers of autonomous vehicle prototypes. A simulation of a highway scenario compares the performance of the different control approaches.