Title: Research on Path Tracking Control of Autonomous Vehicle
Abstract:(Abstract )This paper designs path tracking controller based on preview control thought for autonomous vehicle that is non-linear controlled object. Controller includes two parts, preview control and ...(Abstract )This paper designs path tracking controller based on preview control thought for autonomous vehicle that is non-linear controlled object. Controller includes two parts, preview control and compensation control, preview control previews ahead road by simulation for the process of driving, and generates control signal of steering angle according to the curvature of road, while the compensation control is the amendment for the interference encountered in the vehicle lane deviation from the original correction. Simulation experimental results show that the proposed control algorithm can ensure tracking reference path of autonomous vehicles accurately, and has good robustness. (Key words )autonomous vehicle; path tracking; preview control; compensation control; PID controllerRead More
Publication Year: 2012
Publication Date: 2012-01-01
Language: en
Type: article
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Cited By Count: 2
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Title: $Research on Path Tracking Control of Autonomous Vehicle
Abstract: (Abstract )This paper designs path tracking controller based on preview control thought for autonomous vehicle that is non-linear controlled object. Controller includes two parts, preview control and compensation control, preview control previews ahead road by simulation for the process of driving, and generates control signal of steering angle according to the curvature of road, while the compensation control is the amendment for the interference encountered in the vehicle lane deviation from the original correction. Simulation experimental results show that the proposed control algorithm can ensure tracking reference path of autonomous vehicles accurately, and has good robustness. (Key words )autonomous vehicle; path tracking; preview control; compensation control; PID controller