Advanced path tracking: a study on autonomous vehicle control against different scenarios

Autonomous vehicles have been progressively deployed around the world, bringing numerous challenges remaining in hand due to their intrinsically complex nature. Among them, one of the most critical issues is motion control since it determines the performance of autonomous driving against a wide range of scenarios. This research evaluates the performance of different path tracking control strategies under specific driving conditions and trajectories, along with the exploration of localization algorithms, a fundamental step preceding the motion control stage. The proposed control techniques were simulated based on a single-track 2-DOF vehicle model and then validated through indoor physical tests on a Quanser scaled mobile platform called QCar.

https://orcid.org/0000-0001-6495-9980