Trajectory tracking for highly automated passenger vehicles

Salim Hima (1) , Benoit Lusetti (1) , Benoît Vanholme (1) , Sebastien Glaser (1) , Said Mammar (2)

1 IFSTTAR/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes

In this paper, the design of the longitudinal and lateral controller for dynamic trajectory tracking is presented. The main objective is to follow the planned trajectories generated by a co-pilot module in the safe way despite the presence of vehicle model uncertainties and also to guarantee a passenger comfort by generating soft actions on the steering wheel and accelerations. A primary experimental implementation on the vehicle test prototype is presented.

Keywords: Trajectory tracking and path following; Adaptive and robust control of automotive systems; Intelligent transportation systems

Salim Hima, Benoit Lusetti, Benoît Vanholme, Sebastien Glaser, Said Mammar. Trajectory tracking for highly automated passenger vehicles. 18th World Congress of the International Federation of Automatic Control (IFAC 2011), Aug 2011, Milano, Italy. elec. proc., ⟨10.3182/20110828-6-IT-1002.03594⟩. ⟨hal-00654087⟩