Speed-adaptive model-free lateral control for automated cars - Archive ouverte HAL Access content directly
Conference Papers Year : 2022

Speed-adaptive model-free lateral control for automated cars

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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.
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Origin : Publication funded by an institution

Dates and versions

hal-03745359 , version 1 (04-08-2022)
hal-03745359 , version 2 (05-12-2022)

Licence

Attribution - NonCommercial - NoDerivatives - CC BY 4.0

Identifiers

Cite

Marcos Moreno-Gonzalez, Antonio Artuñedo, Jorge Villagra, Cédric Join, Michel Fliess. Speed-adaptive model-free lateral control for automated cars. IFAC Joint Conference SSSC 2022 - TDS 2022 - LPVS 2022, Sep 2022, Montral, Canada. ⟨10.1016/j.ifacol.2022.11.312⟩. ⟨hal-03745359v2⟩
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