Title: Automated vehicle lateral guidance using multi-PID steering control and look-ahead point reference

Authors: Nolwenn Monot; Xavier Moreau; André Benine-Neto; Audrey Rizzo; François Aioun

Addresses: Groupe PSA, 78943 Velizy-Villacoublay, Talence, France; Laboratoire de l'Intégration du Matériau au Système (IMS), French National Centre for Scientic Research (CNRS), University of Bordeaux, Bordeaux INP, 33405 Talence, France ' Laboratoire de l'Intégration du Matériau au Système (IMS), French National Centre for Scientic Research (CNRS), University of Bordeaux, Bordeaux INP, 33405 Talence, France ' Laboratoire de l'Intégration du Matériau au Système (IMS), French National Centre for Scientic Research (CNRS), University of Bordeaux, Bordeaux INP, 33405 Talence, France ' MILTON, 8 Avenue Apollo, 33700 Mérignac, France ' Groupe PSA, 78943 Velizy-Villacoublay, Talence, France

Abstract: In this paper, a complete analysis of the influence of a look-ahead distance and the longitudinal vehicle velocity on the vehicle lateral dynamics is made in order to choose an adequate control strategy for lane keeping. Since the longitudinal velocity can be easily and accurately measured, a gain scheduling strategy based on the longitudinal velocity is employed in the design of a robust multi-PID for the lateral control. Implemented onboard of a C4 Picasso prototype vehicle, the proposed controller showed promising results at variable speed and a satisfactory accuracy for lateral positioning.

Keywords: autonomous vehicles; robust control; driver assistance systems; self-steering; steering behaviour; lane keeping; lane change assist.

DOI: 10.1504/IJVAS.2021.118032

International Journal of Vehicle Autonomous Systems, 2021 Vol.16 No.1, pp.38 - 55

Received: 01 Feb 2020
Accepted: 30 Oct 2020
Published online: 08 Oct 2021 *

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