Particle-Based Optimization Algorithms for Longitudinal Control of Autonomous Vehicle: A Comparative Study
Fadillah Adam Maani,
Alif Rizqullah Mahdi,
Karina Ardellia Arfian
et al.
Abstract:In order to improve the stability and performance of an autonomous vehicle, optimization needs to be explicitly performed in the controllers, which has an essential part in the tracking system. This work proposes a novel longitudinal control optimization scheme and a novel longitudinal controller consisting of a feed-forward and feedback term. The feed-forward term is inspired by the vehicle’s steady-state response, whereas the feedback term is a proportional-integral-derivative (PID) controller. Also, a model… Show more
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