Development of a full speed range path-following system for the autonomous vehicle

Abstract

In this paper, the full-speed range path following system is proposed regardless of side-slip angle caused by lateral and inertia force in the high speed driving. In order to have robustness about model parameter error, the proposed system is designed according to the back-stepping control algorithm. In order to have control performance in full speed range, both kinematic and dynamic model is used, and to avoid the frequent transition between kinematic and dynamic based control mode, the hysteresis characteris…