Abstract
This paper presents the design and validation of a model-based vehicle lateral controller for autonomous vehicles in a simulation environment. The controller was designed so that the position and orientation tracking errors are minimized and so that the vehicle is able to follow a trajectory computed in real-time by exploiting proper video-processing and lane-detection algorithms. From a computational point of view, the controller is obtained by solving a suitable LMI optimization problem and ensures that the closed-loop system is robust with respect to variations in the vehicle’s longitudinal speed. In order to show the effectiveness of the proposed control strategy, simulations have been undertaken by taking advantage of a co-simulation environment jointly developed in Matlab/Simulink © and Carsim 8 ©. The simulation activity shows that the proposed control approach allows for good control performance to be achieved.
Highlights
Vehicle safety is a major human challenge
The control law was designed by solving a convex optimization problem and allows for a good trajectory-following performance to be achieved with low online computations
The optimization problem used for the synthesis is solved offline and only the computed controller gain enters the state-feedback control architecture
Summary
Vehicle safety is a major human challenge. The World Health Organization (WHO) reports more than one million fatalities in traffic accidents and around 20–50 million injuries each year worldwide. At level 5 (Full Driving Automation), vehicles do not require human attention: the “dynamic driving task” is eliminated In this respect, lane-detection (LD) and lane-keeping (LK) systems are important challenges. The main goal is to design a control system able to perform the trajectory following task for an autonomous vehicle. A complex problem arises when the road strips are incomplete or totally missing and, the camera is unable to suitably define the boundaries of the driving lane (e.g., country roads lacking suitable road signage, vehicle/queue management when approaching toll gates or motorway connections, etc.) Another important issue is guaranteeing the performance of the overall control system at various vehicle speeds.
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