A Tutorial On Autonomous Vehicle Steering Controller Design, Simulation and Implementation

TL;DR

This tutorial provides practical methods for designing, simulating, and implementing steering controllers for autonomous vehicles, focusing on parking and path following with curvature computation techniques.

Contribution

It introduces simple, effective controllers and practical curvature computation methods for autonomous vehicle steering tasks.

Findings

Effective steering controllers demonstrated in simulation

Curvature computation methods improve path following accuracy

Guidelines for implementation in real autonomous vehicles

Abstract

In this tutorial, we detailed simple controllers for autonomous parking and path following for self-driving cars providing practical methods for curvature computation.