Review and analysis of lateral control in autonomous driving with consideration of delay
With the progress and innovation in science and technology, automatic driving technology has made remarkable advancements. In automatic driving systems, the lateral control of vehicles plays a key role in realizing precise path tracking and ensuring stable driving. However, due to various issues inc...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Electric Drive for Locomotives
2024-07-01
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| Series: | 机车电传动 |
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| Online Access: | http://edl.csrzic.com/thesisDetails#10.13890/j.issn.1000-128X.2024.04.017 |
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| _version_ | 1850142685716807680 |
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| author | MA Xiaolong GAO Ming XIONG Guodong |
| author_facet | MA Xiaolong GAO Ming XIONG Guodong |
| author_sort | MA Xiaolong |
| collection | DOAJ |
| description | With the progress and innovation in science and technology, automatic driving technology has made remarkable advancements. In automatic driving systems, the lateral control of vehicles plays a key role in realizing precise path tracking and ensuring stable driving. However, due to various issues including the transmission of sensor data, processing of controller data, and steering response from actuators, delays in control systems for automatic driving are unavoidable. These delays can deteriorate the lateral control performance and stability. Consequently, lateral control methods that take these delays into account have attracted a lot of attention. This paper summarizes and classifies these methods, and briefly introduces vehicle models and the lateral control techniques. Additionally, it analyzes the causes of delays and presents a delay model. The discussion focuses on three aspects of lateral control methods that address delays: delay-based predictive compensation, delay state-space augmentation, and robust control of delay disturbances. |
| format | Article |
| id | doaj-art-e50d4e0e856d49c98005be61b2d20d86 |
| institution | OA Journals |
| issn | 1000-128X |
| language | zho |
| publishDate | 2024-07-01 |
| publisher | Editorial Department of Electric Drive for Locomotives |
| record_format | Article |
| series | 机车电传动 |
| spelling | doaj-art-e50d4e0e856d49c98005be61b2d20d862025-08-20T02:28:59ZzhoEditorial Department of Electric Drive for Locomotives机车电传动1000-128X2024-07-0113914769546248Review and analysis of lateral control in autonomous driving with consideration of delayMA XiaolongGAO MingXIONG GuodongWith the progress and innovation in science and technology, automatic driving technology has made remarkable advancements. In automatic driving systems, the lateral control of vehicles plays a key role in realizing precise path tracking and ensuring stable driving. However, due to various issues including the transmission of sensor data, processing of controller data, and steering response from actuators, delays in control systems for automatic driving are unavoidable. These delays can deteriorate the lateral control performance and stability. Consequently, lateral control methods that take these delays into account have attracted a lot of attention. This paper summarizes and classifies these methods, and briefly introduces vehicle models and the lateral control techniques. Additionally, it analyzes the causes of delays and presents a delay model. The discussion focuses on three aspects of lateral control methods that address delays: delay-based predictive compensation, delay state-space augmentation, and robust control of delay disturbances.http://edl.csrzic.com/thesisDetails#10.13890/j.issn.1000-128X.2024.04.017autonomous drivinglateral controlpredictive compensationstate-space augmentationrobust controldelay |
| spellingShingle | MA Xiaolong GAO Ming XIONG Guodong Review and analysis of lateral control in autonomous driving with consideration of delay 机车电传动 autonomous driving lateral control predictive compensation state-space augmentation robust control delay |
| title | Review and analysis of lateral control in autonomous driving with consideration of delay |
| title_full | Review and analysis of lateral control in autonomous driving with consideration of delay |
| title_fullStr | Review and analysis of lateral control in autonomous driving with consideration of delay |
| title_full_unstemmed | Review and analysis of lateral control in autonomous driving with consideration of delay |
| title_short | Review and analysis of lateral control in autonomous driving with consideration of delay |
| title_sort | review and analysis of lateral control in autonomous driving with consideration of delay |
| topic | autonomous driving lateral control predictive compensation state-space augmentation robust control delay |
| url | http://edl.csrzic.com/thesisDetails#10.13890/j.issn.1000-128X.2024.04.017 |
| work_keys_str_mv | AT maxiaolong reviewandanalysisoflateralcontrolinautonomousdrivingwithconsiderationofdelay AT gaoming reviewandanalysisoflateralcontrolinautonomousdrivingwithconsiderationofdelay AT xiongguodong reviewandanalysisoflateralcontrolinautonomousdrivingwithconsiderationofdelay |