A Framework for Vehicle Lateral Motion Control With Guaranteed Tracking and Performance
In this paper, we propose a framework to design a controller for the vehicle lateral dynamics, which guarantees to meet desired safety and performance requirement. The strict safety requirement considered in this paper is a bound on the lateral deviation from the reference trajectory.
The proposed control design relies on a mild assumption. That is, the trajectory planner generates a trajectory that is piece-wise clothoidal (PWC), with bounded curvature and curvature rate.
Closed-loop simulations using a linear quadratic regulator (LQR) and a model predictive control (MPC) controller, developed based on the proposed framework, show validate the proposed approach.