Control algorithms for automated driving systems

摘要

Lateral and longitudinal control algorithms for automated vehicles are surveyed. In the lateral control,aiming to drive an automated vehicle along a predetermined course, PID control with deviation fromthe course, and state variable feedback control based on the modern control theory with a vehiclemodel are mainly used. In the longitudinal control, feedback control with state variables includingerrors in a gap, a relative speed, and a relative acceleration is used to maintain a predetermined gap ina platoon. Lateral control on lane changing and vehicle following, and longitudinal control in adaptivecruise control are also introduced.