Methodology to Obtain the State Feedback Gains for Lateral Control of the Autonomous Vehicles

Abstract

This paper introduces a methodology for deriving state feedback gains aimed at enhancing the lateral control of Autonomous Vehicles (AV). Autonomous Vehicles represent a groundbreaking technological advancement falling under the category of intelligent transportation systems. In developed nations, AVs are regarded as a potential solution to mitigate injuries resulting from road accidents. The AV system encompasses three distinct modules: Perception, Reference Generation, and Control. Among these, the Control module plays a pivotal role in ensuring the autonomy of the vehicle. Within the realm of existing literature, various lateral control systems have been documented. However, those relying on state feedback mechanisms have failed to provide a well-defined and systematic methodology for acquiring the requisite control gains. Furthermore, these approaches have not addressed the issue of varying vehicle speeds in the context of gain determination. Hence, the primary objective of this article is to present a comprehensive methodology for the systematic derivation of appropriate control gains for the AV lateral control system. The proposed methodology commences by positioning the system’s poles in accordance with the desired eigenvalues. Subsequently, the system is subjected to different sets of poles. Finally, an in-depth analysis of input and output data is conducted, with the aim of identifying the poles that most effectively minimize system errors.