Performance benchmark of state-of-the-art lateral path-following controllers

Zhenji Lu; Barys Shyrokau; Boulaid Boulkroune; Sebastiaan Van Aalst; Riender Happee

doi:10.1109/AMC.2019.8371151

Performance benchmark of state-of-the-art lateral path-following controllers

Zhenji Lu, Barys Shyrokau, Boulaid Boulkroune, Sebastiaan Van Aalst, Riender Happee

Intelligent Vehicles

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

31 Citations (Scopus)

86 Downloads (Pure)

Abstract

Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.

Original language	English
Title of host publication	Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC 2018)
Editors	Yutaka Uchimura, Kiyoshi Ohishi
Place of Publication	Piscataway, NJ, USA
Publisher	IEEE
Pages	541-546
ISBN (Electronic)	978-1-5386-1946-9
DOIs	https://doi.org/10.1109/AMC.2019.8371151
Publication status	Published - 2018
Event	15th IEEE International Workshop on Advanced Motion Control, AMC 2018 - Tokyo, Japan Duration: 9 Mar 2018 → 11 Mar 2018

Conference

Conference	15th IEEE International Workshop on Advanced Motion Control, AMC 2018
Country/Territory	Japan
City	Tokyo
Period	9/03/18 → 11/03/18

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care

Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Benchmarking
Disturbance
Lateral control
Path following algorithm
Simulation

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10.1109/AMC.2019.8371151

08371151Final published version, 543 KB

Cite this

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title = "Performance benchmark of state-of-the-art lateral path-following controllers",

abstract = "Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.",

keywords = "Benchmarking, Disturbance, Lateral control, Path following algorithm, Simulation",

author = "Zhenji Lu and Barys Shyrokau and Boulaid Boulkroune and {Van Aalst}, Sebastiaan and Riender Happee",

note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; 15th IEEE International Workshop on Advanced Motion Control, AMC 2018 ; Conference date: 09-03-2018 Through 11-03-2018",

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doi = "10.1109/AMC.2019.8371151",

language = "English",

pages = "541--546",

editor = "Yutaka Uchimura and Kiyoshi Ohishi",

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Lu, Z, Shyrokau, B, Boulkroune, B, Van Aalst, S & Happee, R 2018, Performance benchmark of state-of-the-art lateral path-following controllers. in Y Uchimura & K Ohishi (eds), Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC 2018). IEEE, Piscataway, NJ, USA, pp. 541-546, 15th IEEE International Workshop on Advanced Motion Control, AMC 2018, Tokyo, Japan, 9/03/18. https://doi.org/10.1109/AMC.2019.8371151

Performance benchmark of state-of-the-art lateral path-following controllers. / Lu, Zhenji; Shyrokau, Barys; Boulkroune, Boulaid et al.
Proceedings - 2018 IEEE 15th International Workshop on Advanced Motion Control (AMC 2018). ed. / Yutaka Uchimura; Kiyoshi Ohishi. Piscataway, NJ, USA: IEEE, 2018. p. 541-546.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Performance benchmark of state-of-the-art lateral path-following controllers

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Keywords

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