Development of lateral control module for zone(u-turn) maneuver of vehicle/driver cooperative autonomous driving system

摘要

This paper proposes a lateral control module for zone(u-turn) maneuver of vehicle/driver cooperative autonomous driving system. The lateral control module consists of the path tracker and primitive driver. The path tracker is using the two sub path tracker according to maneuver of local path planner of the Co-Pilot agent block. And it generates target steering angle by using local path information, current vehicle position and azimuth information from the agent block. The primitive driver controls steering actuator to follow the command steering angle. We propose Stanley algorithm for generating target steering angle, and apply the yaw damping algorithm for increasing yaw stability at zone maneuver. The primitive driver controls steering actuator by using PID (Proportional-Integral-Derivative) controller and compensator. We verified the lateral control module for zone(u-turn) maneuver through experimental test by using Co-Pilot system vehicle.