A nonlinear dead-time compensation method for path tracking control

TL;DR

This paper introduces a nonlinear dead-time compensation method for path tracking control in autonomous vehicles, improving accuracy and robustness by using a predictive model that accounts for vehicle kinematics without complex computations.

Contribution

It presents a novel dead-time compensation approach based on a nonlinear prediction model that enhances path tracking control performance in autonomous vehicle systems.

Findings

Improved control accuracy with dead-time compensation

Robustness against dead-time uncertainty demonstrated

Fast implementation suitable for real-time applications

Abstract

In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control systems poses a challenge to real-world systems. Input and output delays are caused by factors like sensor processing and mechanical response and can range up to a few hundred milliseconds. This chapter addresses the problem of dead time in path tracking control and proposes a method to compensate the dead time. The proposed solution involves a nonlinear prediction model, in a structure similar to the Smith predictor, but incorporating the kinematic behavior of the vehicle plant system. The implementation avoids numeric integration or optimization, enabling a fast execution. Simulation tests with various controllers and disturbances, including dead-time uncertainty, demonstrate the efficacy of the dead-time compensation method. Results indicate improved control performance in all tested scenarios.