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Integrated Longitudinal and Lateral Control for Kuafu-II Autonomous Vehicle

机译：Kuafu-II型自动驾驶汽车的纵向和横向集成控制

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摘要

Over the past decades, there has been significant research effort dedicated to the development of autonomous vehicles and advanced driver assistance systems. The driving control system, which is responsible for trajectory tracking and driving safety, is one of the most important technologies for autonomous vehicles. This paper describes the design of driving control system, including both longitudinal and lateral controllers, for the Kuafu-II autonomous vehicle. Compared with most of the previous researches that inevitably require a large amount of parameters, the presented control system design in this paper integrates several typical and efficient controllers to significantly reduce the system sensitivity to these parameters, and it is able to achieve the system robustness under diversified circumstances. The effectiveness of the presented control system design has been extensively evaluated under simulation and on road tests.
机译：在过去的几十年中，致力于自动驾驶汽车和高级驾驶员辅助系统的大量研究工作。负责轨迹跟踪和驾驶安全的驾驶控制系统是自动驾驶汽车最重要的技术之一。本文描述了用于Kuafu-II自动驾驶汽车的驾驶控制系统的设计，包括纵向和横向控制器。与以往大多数不可避免地需要大量参数的研究相比，本文提出的控制系统设计集成了几种典型且高效的控制器，以显着降低系统对这些参数的敏感度，并且能够在以下情况下实现系统的鲁棒性情况多样。所提出的控制系统设计的有效性已在模拟和路试中得到了广泛评估。

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