Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles
This paper focuses on the design and comparative analysis of speed-dependent lateral control systems for autonomous vehicles, focusing on optimizing vehicular dynamics and passenger comfort to ensure stability and safety. Adapting control systems to varying speeds becomes crucial for maintaining sta...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-11-01
|
| Series: | Engineering Proceedings |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2673-4591/79/1/38 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1846104796160851968 |
|---|---|
| author | Ákos Bokor Ádám Szabó Szilárd Aradi László Palkovics |
| author_facet | Ákos Bokor Ádám Szabó Szilárd Aradi László Palkovics |
| author_sort | Ákos Bokor |
| collection | DOAJ |
| description | This paper focuses on the design and comparative analysis of speed-dependent lateral control systems for autonomous vehicles, focusing on optimizing vehicular dynamics and passenger comfort to ensure stability and safety. Adapting control systems to varying speeds becomes crucial for maintaining stability and maneuverability as autonomous technologies progress. This study evaluates their effectiveness in real-time navigation scenarios within a simulated environment by applying gain-scheduled linear quadratic regulators and model predictive control. The results show that while traditional controllers, such as Pure Pursuit, perform adequately under constant speed conditions, adaptive model-based algorithms significantly enhance the performance, especially in dynamic driving situations involving speed variations. |
| format | Article |
| id | doaj-art-a1fb4393a83c42f680cf08ddbdcfe5c8 |
| institution | Kabale University |
| issn | 2673-4591 |
| language | English |
| publishDate | 2024-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Engineering Proceedings |
| spelling | doaj-art-a1fb4393a83c42f680cf08ddbdcfe5c82024-12-27T14:24:35ZengMDPI AGEngineering Proceedings2673-45912024-11-017913810.3390/engproc2024079038Design of Gain-Scheduled Lateral Controllers for Autonomous VehiclesÁkos Bokor0Ádám Szabó1Szilárd Aradi2László Palkovics3Systems and Control Laboratory, HUN-REN Institute for Computer Science and Control (SZTAKI), Kende utca 13-17, H-1111 Budapest, HungaryDepartment of Control for Transportation and Vehicle Systems, Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics, Műegyetem rkp. 3., H-1111 Budapest, HungaryDepartment of Control for Transportation and Vehicle Systems, Faculty of Transportation Engineering and Vehicle Engineering, Budapest University of Technology and Economics, Műegyetem rkp. 3., H-1111 Budapest, HungarySystems and Control Laboratory, HUN-REN Institute for Computer Science and Control (SZTAKI), Kende utca 13-17, H-1111 Budapest, HungaryThis paper focuses on the design and comparative analysis of speed-dependent lateral control systems for autonomous vehicles, focusing on optimizing vehicular dynamics and passenger comfort to ensure stability and safety. Adapting control systems to varying speeds becomes crucial for maintaining stability and maneuverability as autonomous technologies progress. This study evaluates their effectiveness in real-time navigation scenarios within a simulated environment by applying gain-scheduled linear quadratic regulators and model predictive control. The results show that while traditional controllers, such as Pure Pursuit, perform adequately under constant speed conditions, adaptive model-based algorithms significantly enhance the performance, especially in dynamic driving situations involving speed variations.https://www.mdpi.com/2673-4591/79/1/38autonomous vehiclesgain schedulingmodel-based control |
| spellingShingle | Ákos Bokor Ádám Szabó Szilárd Aradi László Palkovics Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles Engineering Proceedings autonomous vehicles gain scheduling model-based control |
| title | Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles |
| title_full | Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles |
| title_fullStr | Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles |
| title_full_unstemmed | Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles |
| title_short | Design of Gain-Scheduled Lateral Controllers for Autonomous Vehicles |
| title_sort | design of gain scheduled lateral controllers for autonomous vehicles |
| topic | autonomous vehicles gain scheduling model-based control |
| url | https://www.mdpi.com/2673-4591/79/1/38 |
| work_keys_str_mv | AT akosbokor designofgainscheduledlateralcontrollersforautonomousvehicles AT adamszabo designofgainscheduledlateralcontrollersforautonomousvehicles AT szilardaradi designofgainscheduledlateralcontrollersforautonomousvehicles AT laszlopalkovics designofgainscheduledlateralcontrollersforautonomousvehicles |