AUTONOMOUS VEHICLE LATERAL CONTROL FOR PATH TRACKING AND STABILITY

摘要

Methods, systems, and vehicles are provided for facilitating control of steering in autonomous vehicles. In accordance with one embodiment, an autonomous vehicle includes one or more wheel sensors and a processor. The one or more sensors are configured to obtain sensor data pertaining to a side slip of the autonomous vehicle. A dual mandate of desired path tracking & stability is achieved by using a combination of two linear controllers. The first controlled facilitates tracking whereas the second controller facilitates vehicle stability. When the stability event occurs a gradual shift towards the second controller occurs and with recovery from stability event gradual shift towards the first controller. Mimicking of driver behavior by changing the desired trajectory and dynamic control gain adaptation are also added.