1. Speed-Adaptive Model-Free Path-Tracking Control for Autonomous Vehicles: Analysis and Design
- Author
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Marcos Moreno-Gonzalez, Antonio Artuñedo, Jorge Villagra, Cédric Join, and Michel Fliess
- Subjects
model-free control ,autonomous vehicles ,lateral control ,Mechanical engineering and machinery ,TJ1-1570 ,Machine design and drawing ,TJ227-240 ,Motor vehicles. Aeronautics. Astronautics ,TL1-4050 - Abstract
One of the challenges of autonomous driving is to increase the number of situations in which an intelligent vehicle can continue to operate without human intervention. This requires path-tracking control to keep the vehicle stable while following the road, regardless of the shape of the road or the longitudinal speed at which it is moving. In this work, a control strategy framed in the Model-Free Control paradigm is presented to control the lateral vehicle dynamics in a decoupled control architecture. This strategy is designed to guide the vehicle through trajectories with diverse dynamic constraints and over a wide speed range. A design method for this control strategy is proposed, and metrics for trajectory tracking quality, system stability, and passenger comfort are applied to evaluate the controller’s performance. Finally, simulation and real-world tests show that the developed strategy is able to track realistic trajectories with a high degree of accuracy, safety, and comfort.
- Published
- 2023
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