Abstract
Performance evaluation is a necessary stage in development of tracking control strategy of autonomous vehicle system, which determines the scope of application and promotes further improvement. At present, most of the tracking control strategies include performance evaluation. However, performance evaluation criteria differ from work to work, lacking comprehensive evaluation system. This article proposes a multidimensional integrated tracking control evaluation system based on subjective and objective weighting, taking into account the tracking accuracy, driving stability, and ride comfort. Through the co-simulation of CarSim and Simulink, qualitative analysis and quantitative analysis based on multidimensional evaluation system of five coupled longitudinal and lateral control strategies (lateral: pure pursuit feedforward control, dynamic-model-based optimal curvature control (dynamic feedforward control), Stanley feedback control, kinematics feedback control, and dynamic feedback control; longitudinal: the incremental proportion–integration–differentiation control) under typical operating conditions are carried out to analyze the operating range and robustness of each tracking control strategy. The results show that the Stanley tracking control strategy and the dynamic feedback tracking control strategy have a wide range of applications and robustness. The consistency of qualitative analysis results and the quantitative analysis results verify the validity and feasibility of the evaluation system.
Highlights
As one of the core parts of autonomous vehicle system, tracking control plays an important role in ensuring the safety of drivers and vehicles
Inspired by Guo’s work, we proposed a dynamic feedback control strategy
The consistency of results of qualitative analysis and the quantitative analysis based on multidimensional integrated evaluation system verify the validity and feasibility of the evaluation system
Summary
As one of the core parts of autonomous vehicle system, tracking control plays an important role in ensuring the safety of drivers and vehicles. The main purpose of tracking control is to ensure the vehicle follows an expected trajectory with an expected speed. Many scholars have studied tracking control strategies. The research can be categorized in terms of the vehicle model selected, the control theory used, and the control content. The vehicle model can be divided into three types: geometric, kinematic, and dynamic. The control methods can be divided into classical, modern, and intelligent. The control content can be divided into three types: lateral tracking control, longitudinal tracking control, and coupled longitudinal and lateral tracking control
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