Autodriver Autonomous Vehicles Control Strategy

Document Type

Conference Proceeding

Publication Date

2018

Keywords

Autonomous vehicle, Vehicle Dynamics, Vehicle Control, Road Curvature Center

DOI

10.1016/j.procs.2018.08.021

Abstract

Technically, a given geometric curve can be traced and recovered by its curvature center loci. We assume that a road is given mathematically and we are able to determine its curvature center. To follow a road, we make a vehicle to turn about the road curvature center at the right radius of curvature. We design an autonomous vehicle control that follows a given path by adjusting the vehicle rotation center to be on the road curvature center. The dynamics of the vehicle cause not to follow the road and the right path of motion. It means that its rotation center will move off from the road curvature center. We therefore develop and introduce an autodriver algorithm control to compensate the possible errors between the desired location on the road and the actual location of the vehicle.

Source Publication

Procedia computer science

Volume Number

126

First Page

870

Last Page

877

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