Design of a Path-Tracking Controller with an Adaptive Preview Distance Scheme for Autonomous Vehicles

Abstract

This paper presents a method to design a path-tracking controller with an adaptive preview distance scheme for autonomous vehicles. Generally, the performance of a path-tracking controller depends on tire–road friction and is severely deteriorated on low-friction roads. To cope with the problem, it is necessary to design a path-tracking controller that is robust against variations in tire–road friction. In this paper, a preview function is introduced into the state-space model built for better path-tracking performance. With the preview function, an adaptive preview distance scheme is proposed to adaptively adjust the preview distance according to the variations in tire–road friction. Front-wheel steering (FWS) and four-wheel steering (4WS) are adopted as actuators for path tracking. With the state-space model, a linear quadratic regulator (LQR) is adopted as a controller design methodology. In the adaptive preview distance scheme, the best preview distance is obtained from simulation for several tire–road friction conditions. Curve fitting with an exponential function is applied to those preview distances with respect to the tire–road friction. To verify the performance of the adaptive preview distance scheme under variations in tire–road friction, a simulation is conducted on vehicle simulation software. From the simulation results, it was shown that the path-tracking controller with an adaptive preview distance scheme presented in this paper was effective for path tracking against variations in tire–road friction in the peak’s center offset, and the settling delays were reduced by 60% and 23%, respectively.

Keywords

• autonomous vehicle
• path-tracking control
• tire–road friction
• linear quadratic regulator
• 4-wheel steering