PREVIEW CONTROL AND KALMAN FILTER APPLIED TO LATERAL AND LONGITUDINAL PLANNING FOR AUTONOMOUS VEHICLES

摘要

This paper presents a novel strategy to integrate the lateral and longitudinal control for an autonomous vehicle based on the preview control theory. The linear longitudinal and lateral control models are derived. From the previewed path, the path profile and the velocity profile are constructed. The controllers compute the steering angle and the wheel torque from the linear vehicle model and the path information. The responses of the nonlinear vehicle with additive noises are estimated by Kalman filters. The simulation shows that under disturbances the system may maintain a good path following and speed regulating.