Modelling and Control Strategies in Path Tracking Control for Autonomous Ground Vehicles: A Review of State of the Art and Challenges
Citations
336 citations
Cites background from "Modelling and Control Strategies in..."
...present a review of the stateof-the-art algorithmic components used for path tracking in autonomous driving systems [2]....
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161 citations
Cites background from "Modelling and Control Strategies in..."
...speed, due to ignoring vehicle velocity and acceleration [52]....
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...1) Geometric Vehicle Model: Geometric vehicle model exploits the geometric relationship in the vehicle, including the dimension and position between vehicle and path, without considering the velocity and acceleration of vehicle [52], [412]....
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146 citations
120 citations
Cites background from "Modelling and Control Strategies in..."
...5 g) and low vehicle side-slip angles (≤ 5◦) the tyres remain within the linear region of operation and hence, a dynamic bicycle model (linear) is sufficient to capture the relevant dynamics of a vehicle [81,83]....
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...investigation of controller properties [81]....
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...A comprehensive review of trajectory tracking control on the aspects of choice of vehicle model, control strategies, and controller performance criteria has been performed in [81]....
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...Dynamic vehicle models (full vehicle model, half vehicle model and bicycle model) attempt to address these issues by incorporating additional states such as (i) vehicle side-slip angle (β), (ii) tyre side-slip (α) and (iii) linear or non-linear tyre models and they were found to provide a more accurate representation of a vehicle during high-speed driving [81]....
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109 citations
Cites methods from "Modelling and Control Strategies in..."
...Currently, there are mainly three types of vehicle model used in the path following controller development: geometric model, kinematic model and dynamic model [7], [8]....
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...Among them, the geometric model is based on the Ackerman steering configurations, the kinematic vehicle model describes the motion of the vehicle, and the dynamic model describes not only the motion of the vehicle but also the internal states of the vehicle [7], [8]....
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...The Pure Pursuit is the most popular geometric controller which used the geometric model [7]–[9], it was reported being used by many...
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References
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