Automatic Steering Methods for Autonomous Automobile Path Tracking

By Jarrod M. Snider. 2009

502 citations recorded by the source corpus.

View Paper: https://www.semanticscholar.org/paper/18520721525ed81a6ffa6d8b1c7dcbd771e4a64b

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Citations in the corpus

A unified approach to local trajectory planning and control for autonomous driving along a reference path (2014, background): “Based on the comparison of a variety of different path tracking algorithms, [4] concludes that control performance is strongly dependent on the curvature continuity and smoothness of the reference path.”
Research Advances and Challenges of Autonomous and Connected Ground Vehicles (2019, background): “Geometric-vehicle-model-based controllers, like pure pursuit and Stanly, the path tracking error is designed based on a lookahead distance or the center of the front axle to the nearest point in the path [412].”
Perception, Planning, Control, and Coordination for Autonomous Vehicles (2017, methodology): “The Stanley method also requires continuous curvature path rather than discrete waypoints, as it considers the cross track error in a continuous manner, which makes it susceptible to discretization related problems [287].”
End to End Vehicle Lateral Control Using a Single Fisheye Camera (2018, methodology): “The simulator itself is based on the bicycle model [16], [15] which is commonly used for lateral control application due to its simplicity and its ability to represent correctly the vehicle dynamics.”
Automation in forestry: development of unmanned forwarders (2011, methodology): “The goal of a path tracking controller is to minimize the lateral distance between the vehicle and the path, minimize the difference in the vehicle’s heading and the defined path’s heading, and limit steering inputs to smooth motions while maintaining stability (Snider, 2009).”
Neural Autonomous Navigation with Riemannian Motion Policy (2019, unknown): “3 [28].”
Online Verification of Automated Road Vehicles Using Reachability Analysis (2014, methodology): “The parameter values of the Cadillac SRX are obtained as described in [44] and are listed in Tab.”