A path-tracking algorithm using predictive Stanley lateral controller

Path tracking is one of the most important aspects of autonomous vehicles. The current research focuses on designing path-tracking controllers taking into account the stability of the yaw and the nonholonomic constraints of the vehicle. In most cases, the lateral controller design relies on identify...

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Vydáno v:International journal of advanced robotic systems Ročník 17; číslo 6
Hlavní autoři: AbdElmoniem, Ahmed, Osama, Ahmed, Abdelaziz, Mohamed, Maged, Shady A
Médium: Journal Article
Jazyk:angličtina
Vydáno: London, England SAGE Publications 01.11.2020
Sage Publications Ltd
SAGE Publishing
Témata:
Algorithms
Control algorithms
Control stability
Control systems design
Control theory
Controllers
Driver behavior
Lane changing
Lateral stability
Maneuvers
Path tracking
Prediction models
Predictive control
Tracking control
Yaw
Stanley control
lateral control
path tracking
discrete predictive model
Predictive control
ISSN:1729-8806, 1729-8814
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Shrnutí:Path tracking is one of the most important aspects of autonomous vehicles. The current research focuses on designing path-tracking controllers taking into account the stability of the yaw and the nonholonomic constraints of the vehicle. In most cases, the lateral controller design relies on identifying a path reference point, the one with the shortest distance to the vehicle giving the current state of the vehicle. That restricts the controller’s ability to handle sudden changes of the trajectory heading angle. The present article proposes a new approach that imitates human behavior while driving. It is based on a discrete prediction model that anticipates the future states of the vehicle, allowing the use of the control algorithm in future predicted states augmented with the current controller output. The performance of the proposed approach is verified through several simulations on V-REP simulator with different types of maneuvers (double lane change, hook road, S road, and curved road) and a wide range of velocities. Predictive Stanley controller was used compared to the original Stanley controller. The obtained results of the proposed control approach show the advantage and the performance of the technique in terms of minimizing the lateral error and ensuring yaw stability by an average of 53% and 22%, respectively.
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ISSN:1729-8806
1729-8814
DOI:10.1177/1729881420974852