Case Study on a Proven Concept for Lateral Path Following Control. Issue 8 (2019)

• Record Type: Journal Article
• Authors: Schrödel, Frank; Schwarz, Norman
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 8(2019)
• Page Start: 344
• Page End: 349
• Publication Date: 2019
• Subjects: Automated Guided Vehicles -- Automobile Industry -- Automotive Control -- Dynamic Behavior; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.08.111
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A proven lateral path following concept will be introduced in the present study. The main idea is to increase the tracking accuracy by omitting a look ahead based control law and utilizing a simple model which nicely represents the lateral vehicle dynamic. The resulting cascade control structure, as well as the vehicle dynamic model, is discussed in detail. Based on this, model-based controller tuning methods are applied for the parameterization of the individual controllers. Finally, the results are verified with real-world test drive data. Within the scope of this study, it is aimed to propose a robust and easy to tune controller structure in order to regulate the lateral movement of the vehicle in a smooth way. In accordance with that aim, it is more focused on classical control methods than the more sophisticated and computational complex control strategies.