Autonomous Automobile Trajectory Tracking for Off-Road Driving: Controller Design, Experimental Validation and Racing

By G. Hoffmann, Claire Jennifer Tomlin, Michael Montemerlo, Sebastian Thrun. American Control Conference, 2007

448 citations recorded by the source corpus.

Subfields: Automotive Engineering, Control and Systems Engineering

View Paper: https://www.semanticscholar.org/paper/a67edd65bb153278ef301c725dd5ff82f43c7405

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In Automotive Engineering

In Control and Systems Engineering

Citations in the corpus

Reinforcement learning with multi-fidelity simulators (2014, methodology): “A steering angle command and a desired wheel velocity is computed using the closed-loop controllers from [17], where the cross track error term in the steering angle control law is omitted, as the cross track error is minimized by the pure pursuit algorithm.”
Perception, Planning, Control, and Coordination for Autonomous Vehicles (2017, methodology): “Development was accelerated when several research teams later developed more advanced driverless vehicles to traverse desert terrain in the 2004 and 2005 DARPA Grand Challenges [9], and then urban roads in the 2007 DARPA Urban Challenge (DUC) [10].”
A probabilistic approach to mixed open-loop and closed-loop control, with application to extreme autonomous driving (2010, background): “Finally, there has been a great deal of past work on autonomous car control, for example [11].”
Planning and Decision-Making for Autonomous Vehicles (2018, background): “Nonlinear control (18), model predictive control (19), or feedback–feedforward control (20) stabilizes the behavior of the vehicle while tracking the specified path.”
Computing Systems for Autonomous Driving: State of the Art and Challenges (2020, background): “PID control [146], [147], Stanley control [143], and model predictive control (MPC) [148]–[150].”
Space-indexed dynamic programming: learning to follow trajectories (2008, methodology): “Prior to the work presented in this paper, significant engineering effort went into a hand-designed trajectory following controller; this was an initial version of the controller described in (Hoffmann et al., 2007), which was a hand-optimized, linear, regulation controller that computes its actions”
Learning to Drive a Real Car in 20 Minutes (2007, methodology): “An anlytical controller design based on these considerations can be found in [6].”
End to End Vehicle Lateral Control Using a Single Fisheye Camera (2018, methodology): “3) Corrected label: To generate the labels corresponding to the generated images, a simple lateral controller, inspired by [14] [15], is used to model the human driving.”
ConceptFusion: Open-set Multimodal 3D Mapping (2023, methodology): “Other components of the autonomy stack include a shortest-path global planner, a Frenet [71] local planner for obstacle avoidance, and a Stanley-Controller [72] for trajectory tracking.”