J Shanghai Jiaotong Univ Sci ›› 2021, Vol. 26 ›› Issue (5): 690-698.doi: 10.1007/s12204-021-2359-4

• Intelligent Connected Vehicle • Previous Articles     Next Articles

Curvature Adaptive Control Based Path Following for Automatic Driving Vehicles in Private Area

SHI Qiang (师 强), ZHANG Jianlin (张建林), YANG Ming∗ (杨 明)   

  1. (Department of Automation; Key Laboratory of System Control and Information Processing of Ministry of Education, Shanghai Jiao Tong University, Shanghai 200240, China)
  • Received:2020-11-05 Online:2021-10-26 Published:2021-10-28

Abstract: Path following refers to traveling along the desired path with automatic steering control, which is a crucial technology for automatic driving vehicles. Roads in private areas are highly irregular, resulting in a large curvature variation, which reduces the control accuracy of the path following. A curvature adaptive control (CAC) based path-following method was proposed to solve the problem mentioned above. Speci?cally, CAC takes advantage of the complementary characteristics in response to the path curvature ?uctuation of pure pursuit and front-wheel feedback and by combining the two methods further enhances the immunity of the control accuracy in response to a curvature ?uctuation. With CAC, the quantitative indices of the path curvature ?uctuation and control accuracy were constructed. The model between the path curvature ?uctuation and a dynamic parameter was identi?ed using the quantitative index of the control accuracy as the optimization target. The experimental results of a real vehicle indicate that the control accuracy of path following is further enhanced by its immunity in response to curvature ?uctuation improved by the CAC. In addition, CAC is easy to deploy and requires low demand for hardware resources.

Key words: automatic driving vehicles, path following, adaptive control

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