Performance Assessment of Path Tracking Strategies for Autonomous Pilot against Positioning Errors

Path tracking is an important part of autonomous vehicles and most of the methods can be categorized into three kinds of path tracking strategies, geometric model-based strategy, kinematic model-based strategy, and dynamic model-based strategy. This paper presents a performance assessment for these path tracking strategies in the presence of positioning errors. The tracking performance is evaluated by the vehicle simulator CarSim and Matlab/Simulink. The results show that the geometric model-based strategy is more robust than other two strategies and the optimal control output tends to be conservative to reduce the effect of positioning errors on these strategies.

  • Supplemental Notes:
    • This paper was sponsored by TRB committee AHB30 Standing Committee on Vehicle-Highway Automation.
  • Corporate Authors:

    Transportation Research Board

  • Authors:
    • Xu, Huile
    • Li, Weixia
    • Zhang, Yi
  • Conference:
  • Date: 2019


  • English

Media Info

  • Media Type: Digital/other
  • Features: Figures; References; Tables;
  • Pagination: 12p

Subject/Index Terms

Filing Info

  • Accession Number: 01697432
  • Record Type: Publication
  • Report/Paper Numbers: 19-04056
  • Files: TRIS, TRB, ATRI
  • Created Date: Dec 7 2018 9:27AM