Methodology to Obtain the State Feedback Gains for Lateral Control of the Autonomous Vehicles

https://doi.org/10.58571/CNCA.AMCA.2023.042

Resumen: This paper introduces a methodology for deriving state feedback gains aimed at enhancing the lateral control of Autonomous Vehicles (AV). Autonomous Vehicles represent a groundbreaking technological advancement falling under the category of intelligent transportation systems. In developed nations, AVs are regarded as a potential solution to mitigate injuries resulting from road accidents. The Society of Automotive Engineers (SAE) has introduced a comprehensive framework for classifying vehicle autonomy on a scale ranging from 0 to 5, with current Tesla vehicles currently achieving a level 3 rating. A level 5 classification denotes a fully autonomous vehicle devoid of any operational constraints. The AV system encompasses three distinct modules: Perception, Reference Generation, and Control. Among these, the Control module plays a pivotal role in ensuring the autonomy of the vehicle. Within the realm of existing literature, various lateral control systems have been documented. However, those relying on state feedback mechanisms have failed to provide a well-defined and systematic methodology for acquiring the requisite control gains. Furthermore, these approaches have not addressed the issue of varying vehicle speeds in the context of gain determination. Hence, the primary objective of this article is to present a comprehensive methodology for the systematic derivation of appropriate control gains for the AV lateral control system.

¿Cómo citar?

Gomez Gomez, Jesus Ruben; Ponce, Israel Ulises; Vidal Portilla, Luis Ricardo. Methodology to Obtain the State Feedback Gains for Lateral Control of the Autonomous Vehicles. Memorias del Congreso Nacional de Control Automático, pp. 406-412, 2023. https://doi.org/10.58571/CNCA.AMCA.2023.042

Palabras clave

Control de Sistemas Lineales; Control Clásico; Tecnología para Control

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