Lateral Control in Advanced Driver Assistance Systems
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Thirumani Rajagopalan, Madhavan
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Abstract
This research aims to investigate and develop a lateral control methodology and use it to implement Advanced Driver Assistance Systems features in a semi-autonomous or SAE Level 2 features enabled car. Although ADAS is used as an umbrella term to define many features, this research focuses on developing a control action utilized by those systems that require steering action such as Lane Keep Assist (LKA), Lane Change Assist (LCA), or Lane Centering.
This research will describe the modeling of the lateral vehicle motion, utilizing the chosen perception system to identify the cross-track error and heading angle. Furthermore, the research will describe the control law behind the automatic steering system and verify the efficacy of the model and control law using simulation experiments with the respective software algorithms. This thesis intends to provide a technical resource for future researchers working on implementing the lateral control features using a forward perception system and controller to extend this model-in-the-loop testing to hardware-in-the-loop testing, and subsequently, vehicle-in-the-loop testing.
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2022-01-14
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