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Proceedings Papers

Design of Path Tracking Controller for Autonomous Vehicles Through Bias Learning of Vehicle Dynamic Models Under Environmental Uncertainty

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Lichuan Ren, Zhimin Xi
Proc. ASME. IDETC-CIE2021, Volume 3B: 47th Design Automation Conference (DAC), V03BT03A011, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-69284
https://doi.org/10.1115/DETC2021-69284
... of the vehicle under environmental uncertainty. This paper presents a learning-based bias modeling method to improve the fidelity of any baseline vehicle dynamics model so that effective path tracking controller design can be achieved through a low fidelity but high-efficiency vehicle dynamic model with the aid...
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Topics: Autonomous vehicles, Control equipment, Design, Dynamic models, Modeling, Uncertainty, Vehicle dynamics, Vehicles