Controller design for trajectory tracking of autonomous passenger vehicles

This paper presents a controller design procedure for dynamic trajectory tracking of a highly automated vehicle. The main objective is to follow the planned trajectories generated by a co-pilot module in a safe way despite the presence of vehicle model uncertainties and also to guarantee passenger comfort by generating soft actions on the steering wheel and accelerations. A decoupled design approach of longitudinal and lateral controllers is adopted. For the longitudinal controller, a proportional including a feedforward term is adopted. On the other hand, an adaptive backstepping approach is used in the lateral case to deal with model nonlinearities and parameter uncertainties. The developed controller is integrated and tested in a simulation environment. Performance of this controller is presented to demonstrate the effectiveness of the proposed controllers.

• Record URL:
  https://doi.org/10.1109/ITSC.2011.6083126
• Availability:
  • Find a library where document is available. Order URL: http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=6069628
• Supplemental Notes:
  • Abstract reprinted with permission of IEEE.
• Corporate Authors:

  Institute of Electrical and Electronics Engineers (IEEE)

  3 Park Avenue, 17th Floor
  New York, NY  United States  10016-5997
• Authors:
  • Hima, S
  • Glaser, S
  • Chaibet, A
  • Vanholme, B
• Conference:
  • 14th International IEEE Conference on Intelligent Transportation Systems (ITSC 2011)
  • Location: Washington DC, United States
  • Date: 2011-10-5 to 2011-10-7
• Publication Date: 2011-10

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 1459-1464
• Monograph Title: 14th International IEEE Conference on Intelligent Transportation Systems (ITSC 2011)

Subject/Index Terms

• TRT Terms: Automatic controllers; Comfort; Highway safety; Intelligent vehicles; Longitudinal control; Trajectory control
• Uncontrolled Terms: Lateral control (Driving)
• Subject Areas: Design; Highways; Vehicles and Equipment; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01566062
• Record Type: Publication
• ISBN: 9781457721984
• Files: TRIS
• Created Date: Jun 9 2015 4:29PM