Automated driving vehicles are expected to be ready for series production by 2020. An important component of automated driving technologies is controlled path following under longitudinal speed control. In this paper, a robust path following controller design based on lateral deviation and yaw angle error determination of the vehicle is proposed. The constrained least square method is used for obtaining continuity and smoothness of the segment boundaries of the digital trajectory map to be followed. The lateral deviation and yaw angle error are calculated by comparing the generated digital map trajectory and the vehicle position. The parameter space approach is used in the design stage of the controller considering D-stability requirements. The solution regions of the controller are plotted in three dimensional parameter space. The designed controller is tested with simulations on a path chosen from the Ohio State University campus.
- Dynamic Systems and Control Division
Automated Robust Path Following Control Based on Calculation of Lateral Deviation and Yaw Angle Error
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Emirler, MT, Wang, H, Aksun Güvenç, B, & Güvenç, L. "Automated Robust Path Following Control Based on Calculation of Lateral Deviation and Yaw Angle Error." Proceedings of the ASME 2015 Dynamic Systems and Control Conference. Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems. Columbus, Ohio, USA. October 28–30, 2015. V003T50A009. ASME. https://doi.org/10.1115/DSCC2015-9856
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