Performance benchmark of state-of-the-art lateral path-following controllers

Zhenji Lu, Barys Shyrokau, Boulaid Boulkroune, Sebastiaan Van Aalst, Riender Happee

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

31 Citations (Scopus)
92 Downloads (Pure)


Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC 2018)
EditorsYutaka Uchimura, Kiyoshi Ohishi
Place of PublicationPiscataway, NJ, USA
ISBN (Electronic)978-1-5386-1946-9
Publication statusPublished - 2018
Event15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
Duration: 9 Mar 201811 Mar 2018


Conference15th IEEE International Workshop on Advanced Motion Control, AMC 2018

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Benchmarking
  • Disturbance
  • Lateral control
  • Path following algorithm
  • Simulation


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