Trajectory control of vehicles with a discrete linearized model

Abstract

Developing of qualitative planning and control systems for self-driving vehicles is one of the most crucial scientific and technical issues. Solution of this issue will allow promoting self-driving technologies to urban areas with critical demands to driving safety, smoothness and efficiency. Here we propose the hybrid approach consisting of planning and control algorithms working together to drive a vehicle through complex environments with uncertainties. For efficient and fast work of this system we provide a vehicle model in a form of discrete transfer functions that are easily integrated into the control process.