Youla-Kucera Based Lateral Controller for Autonomous Vehicle

Imane Mahtout (1, 2) , Francisco Navas (3) , David Gonzalez (3) , Vicente Milanés (2) , Fawzi Nashashibi (1)

1 RITS - Robotics & Intelligent Transportation Systems
2 Technocentre Renault [Guyancourt]
3 AKKA Technologies

This paper presents the design and implementation of a novel lateral control approach. The proposed control strategy is based on Youla-Kucera parametrization to switch gradually between controllers that are designed separately for big and small lateral errors. The present approach studies the critical problem of initial lateral error in line following. It ensures smooth and stable transitions between controllers and provides a smooth vehicle response regardless of the lateral error. For an initial validation the present work was tested in simulation, implementing a dynamic bicycle model. It has also been tested in real platforms implementing an electric Renault ZOE, with good results when activating the system at different lateral errors. autonomous vehicles Switched controllers parametrization.

Domaines: Automatique

Imane Mahtout, Francisco Navas, David Gonzalez, Vicente Milanés, Fawzi Nashashibi. Youla-Kucera Based Lateral Controller for Autonomous Vehicle. ​ITSC 2018 - 21st IEEE International Conference on Intelligent Transportation Systems, Nov 2018, Maui, Hawaii, U.S. Outlying Islands. ⟨hal-01906268⟩