Dynamic Control System Design for Autonomous Car

Shoaib Azam, Farzeen Munir, Moongu Jeon

Abstract

The autonomous vehicle requires higher standards of safety to maneuver in a complex environment. We focus on control of the self-driving vehicle that includes the longitudinal and lateral dynamics of the vehicle. In this work, we have developed a customized controller for our KIA Soul self-driving car. The customized controller implements the PID control for throttle, brake, and steering so that the vehicle follows the desired velocity profile, which enables a comfortable and safe ride. Besides, we have also catered the lateral dynamic model with two approaches: pure pursuit and model predictive control. An extensive analysis is performed between pure pursuit and its adversary model predictive control for the efficacy of the lateral model.

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Paper Citation


in Harvard Style

Azam S., Munir F. and Jeon M. (2020). Dynamic Control System Design for Autonomous Car.In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS, ISBN 978-989-758-419-0, pages 456-463. DOI: 10.5220/0009392904560463


in Bibtex Style

@conference{vehits20,
author={Shoaib Azam and Farzeen Munir and Moongu Jeon},
title={Dynamic Control System Design for Autonomous Car},
booktitle={Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,},
year={2020},
pages={456-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009392904560463},
isbn={978-989-758-419-0},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - Volume 1: VEHITS,
TI - Dynamic Control System Design for Autonomous Car
SN - 978-989-758-419-0
AU - Azam S.
AU - Munir F.
AU - Jeon M.
PY - 2020
SP - 456
EP - 463
DO - 10.5220/0009392904560463