Speed-Adaptive Model-Free Lateral Control for Automated Cars

TL;DR

This paper presents a speed-adaptive, model-free lateral control strategy for autonomous vehicles that maintains high accuracy, safety, and comfort across a wide range of speeds, validated through simulations and real-world tests.

Contribution

It introduces a novel model-free control approach for lateral vehicle guidance that adapts to different speeds without needing controller tuning for each speed.

Findings

High tracking accuracy across various trajectories

Stable and safe vehicle operation at different speeds

Enhanced passenger comfort during control

Abstract

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the longitudinal speed. Some studies address this problem by tuning a controller for low and high speeds and including an output adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is presented to laterally control the vehicle over a wide speed range. Tracking quality, system stability and passenger comfort are thoroughly analyzed and compared to similar control structures. The results obtained both in simulation and with a real vehicle show that the developed strategy tracks a large number of trajectories with high degree of accuracy, safety and comfort.