Adaptive Path-Tracking Control Algorithm for Autonomous Mobility Based on Recursive Least Squares with External Condition and Covariance Self-Tuning

Abstract

This paper introduces an adaptive path-tracking control algorithm for autonomous mobility based on recursive least squares (RLS) with external conditions and covariance self-tuning. The advancement and commercialization of autonomous driving necessitate universal path-tracking control technologies. In this study, we propose a path-tracking control algorithm that does not rely on vehicle parameters and leverages RLS with self-tuning mechanisms for external conditions and covariance. We designed an integrated error for effective path tracking that combines the lateral preview distance and yaw angle errors. The controller design employs a first-order derivative error dynamics model with the coefficients of the error dynamics estimated through the RLS using a forgetting factor. To ensure stability, we applied the Lyapunov direct method with injection terms and finite convergence conditions. Each regression process incorporates external conditions, and the self-tuning of the injection terms utilizes residuals. The performance of the proposed control algorithm was evaluated using MATLAB®/Simulink® and CarMaker under various path-tracking scenarios. The evaluation demonstrated that the algorithm effectively controlled the front steering angle for autonomous path tracking without vehicle-specific parameters. This controller is expected to provide a versatile and robust path-tracking solution in diverse autonomous driving applications.

Keywords

• recursive least squares
• self-tuning
• path tracking
• autonomous mobility
• external condition