Lateral control for autonomous vehicles: A comparative evaluation
The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lack...
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Published in | Annual reviews in control Vol. 57; p. 100910 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Elsevier Ltd
2024
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Subjects | |
Online Access | Get full text |
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Summary: | The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lacking in the literature. This paper addresses this gap by presenting a systematic evaluation of state-of-the-art model-free and model-based control strategies. The objective is to evaluate and contrast the performance of these controllers across a wide range of driving scenarios, reflecting the diverse needs of autonomous vehicles. To facilitate the comparative analysis, a comprehensive set of performance metrics is selected, encompassing accuracy, robustness, and comfort. The contributions of this research include the design of a systematic tuning methodology, the use of two novel metrics for stability and comfort comparisons and the evaluation through extensive simulations and real tests in an experimental instrumented vehicle over a wide range of trajectories. |
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ISSN: | 1367-5788 |
DOI: | 10.1016/j.arcontrol.2023.100910 |