Towards a generic lateral control concept for cooperative automated driving theoretical and experimental evaluation

Schmeitz, A.J.C.; Zegers, Jeroen; Ploeg, Jeroen; Alirezaei, Mohsen

doi:10.1109/mtits.2017.8005653

Cited by 18 publications

(25 citation statements)

References 3 publications

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“…In this section, the controller as deployed at TNO will be introduced [37], such that in the upcoming sections, a comparative analysis can be provided in terms of performance. The controller is a state feedback-feedforward controller, with speed dependent gains.…”

Section: -3 State Feedback-feedforward Controllermentioning

confidence: 99%

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String-stable automated steering in cooperative driving applications

Hassanain

Alirezaei

Ploeg

et al. 2020

Vehicle System Dynamics

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Section: -3 State Feedback-feedforward Controllermentioning

confidence: 99%

“…which is designed such that errors are reduced during steady-state cornering. For the derivation the reader is referred to [37].…”

mentioning

confidence: 99%

String-stable automated steering in cooperative driving applications

Hassanain

Alirezaei

Ploeg

et al. 2020

Vehicle System Dynamics

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“…For small values of ψ e and for highway driving ( v x >> y e ω z ), the dynamics of the angular and distance error can be obtained as 13…”

Section: Modelling a Take-overmentioning

confidence: 99%

Switching from autopilot to the driver: A transient performance analysis

Venkita

Willemsen²,

Alirezaei³

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part D:

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One of the main safety concerns associated with semi-autonomous vehicles is the sharing of control between a human driver and an autonomous driving system. Even with an attentive driver, such switches in control may pose a threat to the safety of the driver and the surrounding vehicles. The aim of this study is to develop an indicator that can measure the level of safety during a driver take-over, using knowledge about the system known a priori. A model-based approach is used to analyse the system with special focus on the lateral dynamics of the vehicle. The driver and the vehicle are modelled as linear systems, and a path tracking controller is used to serve as an autonomous system. With this structure, shared control is studied as a switched system, in which the vehicle’s lateral control switches between the autonomous system and the driver. A bound on the transient dynamics that arise due to a switch is derived, using the induced [Formula: see text] norm. This bound is then used to formulate an indicator that checks if the states/outputs of interest are within acceptable limits. A comparison with simulation results has shown that the indicator successfully captures the effect of different system parameters on take-over safety, although in a slightly conservative manner. This indicator can be further developed as a tool to be used in the design and evaluation of shared-/multi-modal control systems in future vehicles.

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“…Focusing on the minimization of lateral error and heading error, the control input is defined as [10]:…”

Section: B Path Control With Preview (Pcff)mentioning

confidence: 99%

“…Hp and Hc are prediction and control horizons[7][8].E. OBCIConsidering a linear parameter-varying system[10] and a feedback controller, as shown onFigure 4: Schematic overview of OBCI controllerThe objective of the controller is to determine the L( ), K( ), M( ) by solving sufficient LMI conditions to satisfy the H criterion ensuring the stability of the close loop system.Transferring a model (4) to (13) to match system format (…”

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confidence: 99%

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

Shyrokau

Boulkroune

et al. 2018

2018 IEEE 15th International Workshop on Advanced Motion Control (AMC)

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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.

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Towards a generic lateral control concept for cooperative automated driving theoretical and experimental evaluation

Cited by 18 publications

References 3 publications

String-stable automated steering in cooperative driving applications

String-stable automated steering in cooperative driving applications

Switching from autopilot to the driver: A transient performance analysis

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

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