Lateral control for autonomous vehicles: A comparative evaluation
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lacking in the literature. This paper addresses this gap by presenting a systematic evaluation of state-of-the-art model-free and model-based control strategies. The objective is to evaluate and contrast the performance of these controllers across a wide range of driving scenarios, reflecting the diverse needs of autonomous vehicles. To facilitate the comparative analysis, a comprehensive set of performance metrics is selected, encompassing accuracy, robustness, and comfort. The contributions of this research include the design of a systematic tuning methodology, the use of two novel metrics for stability and comfort comparisons and the evaluation through extensive simulations and real tests in an experimental instrumented vehicle over a wide range of trajectories.
Code (0)
등록된 구현이 없습니다.
Tasks
Autonomous DrivingAutonomous VehiclesMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
Lateral String Stability in Autonomous & Connected Vehicle Platoons
This paper addresses the lateral control of Autonomous and Connected Vehicles (ACVs) in a platoon executing an Emergency Lane Change (ELC) maneuver. These maneuvers are typically triggered by emergency signals from the f…
K-SMPC: Koopman Operator-Based Stochastic Model Predictive Control for Enhanced Lateral Control of Autonomous Vehicles
This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an …
Autonomous VehiclesModel Predictive ControlRobust Lateral Control of a Convoy of Autonomous & Connected Vehicles with Limited Preview
This paper addresses the lateral control of Autonomous & Connected Vehicles (ACVs) convoys during Emergency Lane Change (ELC) maneuvers. These maneuvers are initiated in response to emergency cues from either the front o…
Coordinated PSO-PID based longitudinal control with LPV-MPC based lateral control for autonomous vehicles
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while l…
Autonomous DrivingAutonomous VehiclesSelf-Driving like a Human driver instead of a Robocar: Personalized comfortable driving experience for autonomous vehicles
This paper issues an integrated control system of self-driving autonomous vehicles based on the personal driving preference to provide personalized comfortable driving experience to autonomous vehicle users. We propose a…
Autonomous Vehicles