Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design

11Citations
Citations of this article
12Readers
Mendeley users who have this article in their library.

Abstract

One of the challenges of autonomous driving is to increase the number of situations in which an intelligent vehicle can continue to operate without human intervention. This requires path-tracking control to keep the vehicle stable while following the road, regardless of the shape of the road or the longitudinal speed at which it is moving. In this work, a control strategy framed in the Model-Free Control paradigm is presented to control the lateral vehicle dynamics in a decoupled control architecture. This strategy is designed to guide the vehicle through trajectories with diverse dynamic constraints and over a wide speed range. A design method for this control strategy is proposed, and metrics for trajectory tracking quality, system stability, and passenger comfort are applied to evaluate the controller’s performance. Finally, simulation and real-world tests show that the developed strategy is able to track realistic trajectories with a high degree of accuracy, safety, and comfort.

Cite

CITATION STYLE

APA

Moreno-Gonzalez, M., Artuñedo, A., Villagra, J., Join, C., & Fliess, M. (2023). Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design. Vehicles, 5(2), 698–717. https://doi.org/10.3390/vehicles5020038

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free