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

7 Citations (Scopus)
9 Downloads (Pure)

Abstract

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
PublisherIEEE
Pages541-546
ISBN (Electronic)978-1-5386-1946-9
DOIs
Publication statusPublished - 2018
Event15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan
Duration: 9 Mar 201811 Mar 2018

Conference

Conference15th IEEE International Workshop on Advanced Motion Control, AMC 2018
CountryJapan
CityTokyo
Period9/03/1811/03/18

Keywords

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

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