Autonomous driving of a truck based on path following control

Abstract

Energy consumption and CO2 emission are world-wide problems In Japan a new project for reducing CO2 called .Energy ITS project. has started since 2008 by NEDO (New Energy and Industrial Technology Development Organization) In this paper a path following control method based on nonholonomic tracking control for autonomous drivinng of automotives is proposed to follow the determined path as accurately as possible. Path following control can treat the nonlinearities of the system, and it can follow the reference path more accurately. Different from tracking control, path following control separates velocity control and steering control. The performance of the designed control system which consists of a path following controller and a velocity controller is evaluated by simulation and experimental results. © 2011 The Japan Society of Mechanical Engineers.