Lateral control for autonomous wheeled vehicles: A technical review

Abstract

Autonomous driving has the ability to reshape mobility and transportation by reducing road accidents, traffic jams, and air pollution. This can yield energy efficiency, convenience, and more productivity as significant driving time will be gained and used in other activities instead. Autonomous vehicles are complex systems consisting of several modules that perform perception, decision-making, planning, and control. Control is essential for achieving automatic driving; it is basically divided into longitudinal control that handles speed tracking and lateral control which ensures accurate steering. The latter is primordial in path tracking applications and recent research has witnessed a huge leap in this field. The aim of this paper is to provide a technical survey of the latest research on the lateral control of autonomous vehicles as well as to highlight technical challenges and limits for further developments.

Model-Based Control and Model-Free Control Techniques for Autonomous Vehicles: A Technical Survey

“…A technical survey on the latest research on lateral control techniques applied for autonomous vehicles and the path-tracking task was proposed in [24]. Many concepts of control formulation are demonstrated and discussed, and the challenges and strengths of each control technique are mentioned and compared.…”

“…Generally, in spite of the great progress in the field of autonomous driving, many problems such as steering systems, unmeasurable parameters, and discontinuous data still continue and need great efforts to be solved. A technical survey on the latest research on lateral control techniques applied for autonomous vehicles and the path-tracking task was proposed in [24]. Many concepts of control formulation are demonstrated and discussed, and the challenges and strengths of each control technique are mentioned and compared.…”

Adaptive terminal sliding mode trajectory tracking control with fixed‐time prescribed performance considering rollover stability of autonomous vehicles

“…In addition to treating these uncertainties as disturbances, some literatures also use model-based methods to account for the effect of roll motion on yaw motion, and further consider dealing with vehicle disturbances such as vehicle suspension and external yaw moment. 4,8,9 The main purpose of trajectory tracking is to track the reference trajectory accurately by eliminating tracking errors, for which various control methods have been researched, 10 such as backstepping control, 11 active disturbance rejection control (ADRC), 12 model predictive control (MPC), 13 robust control, 14 and sliding mode control (SMC). 7 Due to the complex and variable driving conditions, the focus of the control scheme research is how to design a trajectory tracking control method with strong robustness.…”

“…The main purpose of trajectory tracking is to track the reference trajectory accurately by eliminating tracking errors, for which various control methods have been researched, 10 such as backstepping control, 11 active disturbance rejection control (ADRC), 12 model predictive control (MPC), 13 robust control, 14 and sliding mode control (SMC) 7 . Due to the complex and variable driving conditions, the focus of the control scheme research is how to design a trajectory tracking control method with strong robustness.…”

Adaptive path planning and tracking system based on model predictive control for autonomous vehicle local obstacle avoidance

“…The commonly used path tracking control methods are PID control, fuzzy control, sliding mode control, optimal state feedback control, and model predictive control (MPC). Among them, the MPC algorithm is becoming a hot research direction for academic as well as industrial applications due to its outstanding ability to handle vehicle dynamic constraints such as Rupp et al [1,2]. For example, Chen et al [3] propose an MPC lateral controller considering pre-sighted paths, and the robustness of the controller is enhanced by an adaptive method of tire parameters.…”