Portable Autonomous Vehicle Controller

摘要

Developers of autonomous vehicle control schemes and path planning algorithms typically face a substantial obstacle in implementation and testing. The portable controller proposed here contains the actuators, sensors, and low-level servocontrollers allowing developers to readily implement their lateral and/or longitudinal control algorithms (or other vehicle control-related technique) on any passenger car or light truck with an automatic transmission. Developed originally for vehicle dynamics testing, this system is evaluated on several vehicles with controllers described herein.