A Framework for Vehicle Lateral Motion Control With Guaranteed Tracking and Performance
Paper in proceedings, 2019

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. Bounded lateral deviation from the reference trajectory is the strict safety requirement considered in this paper.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, validates the proposed approach.


Ankit Gupta

Chalmers, Electrical Engineering, Systems and control, Mechatronics

M. Nilsson

Zenuity AB

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control, Mechatronics

Emil Klintberg

Zenuity AB

Lars Johannesson Mardh

Zenuity AB

2019 IEEE Intelligent Transportation Systems Conference, ITSC 2019

3607-3612 8916936

Driving Forces

Sustainable development

Areas of Advance


Subject Categories

Vehicle Engineering


Control Engineering



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1/8/2020 3