Lateral control for autonomous vehicles: A comparative evaluation

The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lack...

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Detalles Bibliográficos
Autores: Artuñedo, Antonio, Moreno-Gonzalez, Marcos, Villagrá, Jorge
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2024
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/351068
Acceso en línea:http://hdl.handle.net/10261/351068
Access Level:acceso abierto
Palabra clave:Automated vehicles
Lateral control
Path tracking
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spelling Lateral control for autonomous vehicles: A comparative evaluationArtuñedo, AntonioMoreno-Gonzalez, MarcosVillagrá, JorgeAutomated vehiclesLateral controlPath trackingThe selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lacking in the literature. This paper addresses this gap by presenting a systematic evaluation of state-of-the-art model-free and model-based control strategies. The objective is to evaluate and contrast the performance of these controllers across a wide range of driving scenarios, reflecting the diverse needs of autonomous vehicles. To facilitate the comparative analysis, a comprehensive set of performance metrics is selected, encompassing accuracy, robustness, and comfort. The contributions of this research include the design of a systematic tuning methodology, the use of two novel metrics for stability and comfort comparisons and the evaluation through extensive simulations and real tests in an experimental instrumented vehicle over a wide range of trajectories.Peer reviewedElsevierArtuñedo, Antonio [0000-0003-2161-9876]Moreno-Gonzalez, Marcos [0000-0002-9595-1233]Villagrá, Jorge [0000-0002-3963-7952]Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]202420242024info:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_6501Publisher's versioninfo:eu-repo/semantics/publishedVersionhttp://hdl.handle.net/10261/351068reponame:DIGITAL.CSIC. Repositorio Institucional del CSICinstname:Consejo Superior de Investigaciones Científicas (CSIC)InglésSíinfo:eu-repo/semantics/openAccessoai:digital.csic.es:10261/3510682026-05-22T06:33:51Z
dc.title.none.fl_str_mv Lateral control for autonomous vehicles: A comparative evaluation
title Lateral control for autonomous vehicles: A comparative evaluation
spellingShingle Lateral control for autonomous vehicles: A comparative evaluation
Artuñedo, Antonio
Automated vehicles
Lateral control
Path tracking
title_short Lateral control for autonomous vehicles: A comparative evaluation
title_full Lateral control for autonomous vehicles: A comparative evaluation
title_fullStr Lateral control for autonomous vehicles: A comparative evaluation
title_full_unstemmed Lateral control for autonomous vehicles: A comparative evaluation
title_sort Lateral control for autonomous vehicles: A comparative evaluation
dc.creator.none.fl_str_mv Artuñedo, Antonio
Moreno-Gonzalez, Marcos
Villagrá, Jorge
author Artuñedo, Antonio
author_facet Artuñedo, Antonio
Moreno-Gonzalez, Marcos
Villagrá, Jorge
author_role author
author2 Moreno-Gonzalez, Marcos
Villagrá, Jorge
author2_role author
author
dc.contributor.none.fl_str_mv Artuñedo, Antonio [0000-0003-2161-9876]
Moreno-Gonzalez, Marcos [0000-0002-9595-1233]
Villagrá, Jorge [0000-0002-3963-7952]
Consejo Superior de Investigaciones Científicas [https://ror.org/02gfc7t72]
dc.subject.none.fl_str_mv Automated vehicles
Lateral control
Path tracking
topic Automated vehicles
Lateral control
Path tracking
description The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of their performance using the same tuning methodology is lacking in the literature. This paper addresses this gap by presenting a systematic evaluation of state-of-the-art model-free and model-based control strategies. The objective is to evaluate and contrast the performance of these controllers across a wide range of driving scenarios, reflecting the diverse needs of autonomous vehicles. To facilitate the comparative analysis, a comprehensive set of performance metrics is selected, encompassing accuracy, robustness, and comfort. The contributions of this research include the design of a systematic tuning methodology, the use of two novel metrics for stability and comfort comparisons and the evaluation through extensive simulations and real tests in an experimental instrumented vehicle over a wide range of trajectories.
publishDate 2024
dc.date.none.fl_str_mv 2024
2024
2024
dc.type.none.fl_str_mv info:eu-repo/semantics/article
http://purl.org/coar/resource_type/c_6501
Publisher's version
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10261/351068
url http://hdl.handle.net/10261/351068
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Sí
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:DIGITAL.CSIC. Repositorio Institucional del CSIC
instname:Consejo Superior de Investigaciones Científicas (CSIC)
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,81155

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