A Robust Path Tracking Algorithm for Autonomous Driving under i-VICS

With the intelligent vehicle-infrastructure cooperative system (i-VICS), a connected and automated vehicle (CAV) can obtain the precise vehicle location information via vehicle to infrastructure (V2I) communication to accomplish the path tracking task. However, in some special scenarios, the location information of vehicles might become inaccurate, e.g., the vehicle failed to communicate with the road-side unit (RSU), which decreases the stability of path tracking. In this paper, we focus on improving the reliability of vehicle location information during tracking path. First, a predicted method using vehicle dynamics is proposed to recognize the scenarios in which the vehicle location information becomes inaccurate when the vehicle moves. Then, a modified Kalman filter is employed to adapt to a more complex scenario with variable position error. At last, simulation results demonstrate that the proposed method has a marked effect on handling the driving scenario with inaccurate location information.

Language

  • English

Media Info

  • Media Type: Web
  • Pagination: pp 713-724
  • Monograph Title: CICTP 2020: Transportation Evolution Impacting Future Mobility

Subject/Index Terms

Filing Info

  • Accession Number: 01767360
  • Record Type: Publication
  • ISBN: 9780784483053
  • Files: TRIS, ASCE
  • Created Date: Dec 9 2020 3:02PM