文章基本信息

标题：A Vehicle-Independent Autonomous Lane Keeping and Path Tracking System ⁎
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作者：William T. Bryan ; Matthew E. Boler ; David M. Bevly 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：2
页码：37-44
DOI：10.1016/j.ifacol.2021.06.006
语种：English
出版社：Elsevier
摘要：AbstractThis paper describes a lateral controller for path following developed to work on a wide range of vehicles without any changes in tuning between platforms. This vehicle independent path following controller employs a cascaded adaptive architecture, with the outer loop controlling the path dynamics and the inner loop controlling the vehicle dynamics. The controller is validated on four vehicle models in simulation at a variety of speeds. The controller is then implemented and validated in real-time on a Lincoln MKZ, a Class-8 Peterbilt 579 cab, a Peterbilt 579 with a loaded trailer, and a 1/10thscale RC car. The controller is shown to perform well on the four simulated vehicles and the four experimental platforms at a range of longitudinal speeds, matching or exceeding human performance with consistent and smooth steering.
关键词：KeywordsAdaptiverobust control of automotive systemsAutonomous vehiclesTrajectory trackingpath following