Automated vehicle lateral guidance using multi-PID steering control and look-ahead point reference - Archive ouverte HAL
Article Dans Une Revue International Journal of Vehicle Autonomous Systems Année : 2021

Automated vehicle lateral guidance using multi-PID steering control and look-ahead point reference

Nolwenn Monot
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Audrey Rizzo
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François Aioun
  • Fonction : Auteur

Résumé

In this paper, a complete analysis of the influence of a look-ahead distance and the longitudinal vehicle velocity on the vehicle lateral dynamics is made in order to choose an adequate control strategy for lane keeping. Since the longitudinal velocity can be easily and accurately measured, a gain scheduling strategy based on the longitudinal velocity is employed in the design of a robust multi-PID for the lateral control. Implemented onboard of a C4 Picasso prototype vehicle, the proposed controller showed promising results at variable speed and a satisfactory accuracy for lateral positioning.
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Dates et versions

hal-04491896 , version 1 (06-03-2024)

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Nolwenn Monot, Xavier Moreau, André Benine Neto, Audrey Rizzo, François Aioun. Automated vehicle lateral guidance using multi-PID steering control and look-ahead point reference. International Journal of Vehicle Autonomous Systems, 2021, 16 (1), pp.38. ⟨10.1504/IJVAS.2021.118032⟩. ⟨hal-04491896⟩
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