Speed-adaptive model-free lateral control for automated cars - École polytechnique Access content directly
Conference Papers Year : 2022

Speed-adaptive model-free lateral control for automated cars


In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the longitudinal speed. Some studies address this problem by tuning a controller for low and high speeds and including an output adaptation law. In this paper, a strategy framed in the Model-Free Control paradigm is presented to laterally control the vehicle over a wide speed range. Tracking quality, system stability and passenger comfort are thoroughly analyzed and compared to similar control structures. The results obtained both in simulation and with a real vehicle show that the developed strategy tracks a large number of trajectories with high degree of accuracy, safety and comfort.
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Dates and versions

hal-03745359 , version 1 (04-08-2022)
hal-03745359 , version 2 (05-12-2022)


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Marcos Moreno-Gonzalez, Antonio Artuñedo, Jorge Villagra, Cédric Join, Michel Fliess. Speed-adaptive model-free lateral control for automated cars. IFAC Joint Conference SSSC 2022 - TDS 2022 - LPVS 2022, Sep 2022, Montral, Canada. ⟨10.1016/j.ifacol.2022.11.312⟩. ⟨hal-03745359v2⟩
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