Numeric Approach on Optimal Control for the Path Following System in Autonomous Vehicle

Abstract

In this paper, the control strategies for Path Following System (PFS) in autonomous vehicle, which lets vehicle stay in the center of its lane is discussed, we will create a plant mechanical, mathematical and error dynamics model for the study of PFS, which is stabilized by the state-feedback control law, also considers the output where the sensor is made. We apply mainly an optimal control or configure a Linear-quadratic Regulator (LQR) for state space systems and compare it to that based on the Pole Assignment (PA). Combined with a typical operating scenario of the road, we mainly consider static and dynamic errors in the moving process, and how intensely the error fluctuates and how errors are related to the next time. Figures and data show that the LQR controller successfully adjusts and gives appropriate input to let the vehicle approach to centerline, errors and the steering angle required to negotiate a curved road are presented and analyzed, finally relevant conclusions are drawn.