Abstract

This paper analyzes the behavior of autonomous vehicles in simulated environment and develops an integrated control system for maneuvering and slip prevention in curvy roads. First, a longitudinal and lateral control system is designed for the vehicle using the feedback linearization method. The longitudinal controller enforces tracking the desired velocity, while the lateral controller steers the vehicle toward, and maintains it on a desired lane. A two-level supervisory controller is then developed to prevent lateral slip while driving on curvy roads. On the lower level, the steering wheel angle is actively limited based on the vehicle speed to avoid oversteering. On the supervisory level, a predictive controller is integrated into the system to optimally slow down the vehicle ahead of a detected road curvature. Simulation results indicate the effectiveness of the proposed schemes in maintaining desirable maneuvering conditions and preventing lateral slips.

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