Abstract
Autonomous or self-driving vehicles are becoming a consolidate reality that involves both industrial and academic fields 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 efficacy of the controller presented.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
The SAE international on-road automated vehicle standards committee (2014) Taxonomy and definitions for terms related to on-road motor vehicle automated driving systems
Lapierre L, Zapata R, Lepinay P (2007) Combined path-following and obstacle avoidance control of a wheeled robot. Int J Robot Res 26(4):361–375
Verscheure D, Demeulenaere B, Swevers J, De Schutter J, Diehl M (2009) Time-optimal path tracking for robots: a convex optimization approach. IEEE Trans Autom Control 54(10):2318–2327
Oshima R, Kikuchi E, Kimura M, Matsumoto S (1965) Control system for automobile driving. In: Proceedings of the Tokyo 1FAC symposium, pp 347–357
Fenton RE, Mayhan RJ (1991) Automated highway studies at the Ohio state university-an overview. IEEE Trans Veh Technol 40(1):100–113
Coulter RC (1992) Implementation of the pure pursuit path tracking algorithm, DTIC document, technical report
Snider JM et al (2009) Automatic steering methods for autonomous automobile path tracking, robotics institute, Pittsburgh, PA, technical report, CMU-RITR-09-08
Tsugawa S (1999) An overview on control algorithms for automated highway systems. In: Proceedings of the 1999 IEEE/IEEJ/JSAI international conference on intelligent transportation systems. IEEE, pp 234–239
Mouri H, Furusho H (1997) Automatic path tracking using linear quadratic control theory. In: IEEE conference on intelligent transportation system, ITSC 1997. IEEE pp 948–953
Inoue H, Mouri H, Sato H, Asaoka A, Ueda S (1996) Technologies of nissan’s ahs test vehicle. In: 3rd ITS world congress
Ackermann J, Guldner J, Sienel W, Steinhauser R, Utkin VI (1995) Linear and nonlinear controller design for robust automatic steering. IEEE Trans Control Syst Technol 3(1):132–143
Ackermann J (2012) Robust control: the parameter space approach. Springer, Heidelberg
Guldner J, Sienel W, Tan H-S, Ackermann J, Patwardhan S, Bunte T (1999) Robust automatic steering control for look-down reference systems with front and rear sensors. IEEE Trans Control Syst Technol 7(1):2–11
Emirler MT, Wang H, Güvenç BA, Güvenç L (2015) Automated robust path following control based on calculation of lateral deviation and yaw angle error. In: ASME 2015 dynamic systems and control conference. American Society of Mechanical Engineers, p V003T50A009
Hiraoka T, Nishihara O, Kumamoto H (2009) Automatic path-tracking controller of a four-wheel steering vehicle. Veh Syst Dyn 47(10):1205–1227
O’Brien RT, Iglesias PA, Urban TJ (1996) Vehicle lateral control for automated highway systems. IEEE Trans Control Syst Technol 4(3):266–273
Falcone P, Borrelli F, Asgari J, Tseng HE, Hrovat D (2007) Predictive active steering control for autonomous vehicle systems. IEEE Trans Control Syst Technol 15(3):566–580
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Tota, A., Velardocchia, M., Güvenç, L. (2018). Path Tracking Control for Autonomous Driving Applications. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_49
Download citation
DOI: https://doi.org/10.1007/978-3-319-61276-8_49
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61275-1
Online ISBN: 978-3-319-61276-8
eBook Packages: EngineeringEngineering (R0)