Abstract Autonomous or self-driving vehicles are becoming a consolidate reality that involves both industrial and academic fields also for its impact in social and governmental communities, well far from automotive engineering. The intent of the present paper is to design an automatic steering control for an autonomous vehicle equipped with steer-by-wire and drive-by-wire technologies. The steering action is calculated to let the vehicle follow a reference path which is stored in a Digital Map properly built to be available in real-time. A Proportional + Derivative (PD) control strategy is deigned based on the Parameter State Approach (PSA) and it is coupled with a Feedforward (FF) term for improving the path tracking control in cornering maneuvers. Some experimental results are shown to demonstrates the efficacy of the controller presented.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Path Tracking Control for Autonomous Driving Applications


    Beteiligte:


    Erscheinungsdatum :

    27.07.2017


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    AUTONOMOUS DRIVING CONTROL DEVICE AND AUTONOMOUS DRIVING PATH COMPUTATION METHOD

    HASEJIMA NORIYASU / OGATA TAKEHITO / TAGAWA SHINYA et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    AUTONOMOUS DRIVING CONTROL DEVICE AND AUTONOMOUS DRIVING PATH COMPUTATION METHOD

    HASEJIMA NORIYASU / OGATA TAKEHITO / TAGAWA SHINYA et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Autonomous driving control device and autonomous driving path computation method

    HASEJIMA NORIYASU / OGATA TAKEHITO / TAGAWA SHINYA et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    A Path Tracking Approach for Autonomous Driving on Slippery Surfaces

    Regolin, Enrico / Zambelli, Massimo / Vanzulli, Marco et al. | IEEE | 2019


    Autonomous driving intelligent vehicle overtaking path tracking based on MPC

    Ma, Ning / Zhuang, Hao / Kang, Shun et al. | IEEE | 2024