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Authors: Shoaib Azam ; Farzeen Munir and Moongu Jeon

Affiliation: School of Electrical Engineering and Computer Science, Gwangju Institute of Science and Technology, Gwangju, South Korea

Keyword(s): Longitudinal Control, Lateral Control, Model Predictive Control, Pure Pursuit.

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 several formats:
Azam, S., Munir, F., Jeon and M. (2020). Dynamic Control System Design for Autonomous Car. In Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS; ISBN 978-989-758-419-0; ISSN 2184-495X, SciTePress, pages 456-463. DOI: 10.5220/0009392904560463

@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 - VEHITS},
year={2020},
pages={456-463},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009392904560463},
isbn={978-989-758-419-0},
issn={2184-495X},
}

TY - CONF

JO - Proceedings of the 6th International Conference on Vehicle Technology and Intelligent Transport Systems - VEHITS
TI - Dynamic Control System Design for Autonomous Car
SN - 978-989-758-419-0
IS - 2184-495X
AU - Azam, S.
AU - Munir, F.
AU - Jeon, M.
PY - 2020
SP - 456
EP - 463
DO - 10.5220/0009392904560463
PB - SciTePress

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