Autonomous or self-driving vehicles are becoming a consolidate reality that involves both industrial and academic elds also for its impact in social and governmental communities, well far from automotive engineering. The intent of the present paper is to design an automatic steering control for an autonomous vehicle equipped with steer-by-wire and drive-by-wire technologies. The steering action is calculated to let the vehicle follow a reference path which is stored in a Digital Map properly built to be available in real-time. A Proportional + Derivative (PD) control strategy is deigned based on the Parameter State Approach (PSA) and it is coupled with a Feedforward (FF) term for improving the path tracking control in cornering maneuvers. Some experimental results are shown to demonstrates the ecacy of the controller presented.

Path Tracking Control for Autonomous Driving Applications / Tota, Antonio; Velardocchia, Mauro; Güvenç, Levent. - STAMPA. - 49:(2017), pp. 456-467. (Intervento presentato al convegno 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 tenutosi a Turin nel 21-23 June 2017) [10.1007/978-3-319-61276-8_49].

Path Tracking Control for Autonomous Driving Applications

Tota, Antonio;Velardocchia, Mauro;
2017

Abstract

Autonomous or self-driving vehicles are becoming a consolidate reality that involves both industrial and academic elds also for its impact in social and governmental communities, well far from automotive engineering. The intent of the present paper is to design an automatic steering control for an autonomous vehicle equipped with steer-by-wire and drive-by-wire technologies. The steering action is calculated to let the vehicle follow a reference path which is stored in a Digital Map properly built to be available in real-time. A Proportional + Derivative (PD) control strategy is deigned based on the Parameter State Approach (PSA) and it is coupled with a Feedforward (FF) term for improving the path tracking control in cornering maneuvers. Some experimental results are shown to demonstrates the ecacy of the controller presented.
2017
978-3-319-61275-1
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2845602