Design and Testing of a Controller for Autonomous Vehicle Path Tracking Using GPS/INS Sensors,” in Int. Federation of Automatic Control

Abstract: This paper describes a steering controller integrated with speed controller for autonomous path tracking using GPS and INS sensors. The steering controller for path tracking is developed based on the finite preview optimal control method. The steering control input is computed using the road information within preview distance. The speed controller determines the speed command necessary to maintain a lateral acceleration limit and improve vehicle safety. The vehicle model for simulation study is validated using vehicle test data. Finally, the controller is implemented on a by-wire vehicle, P1, to validate the performance of the steering controller integrated with speed controller