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Cited by 165Vehicle Dynamics and Control SystemsControl and Dynamics of Mobile RobotsAutonomous Vehicle Technology and Safety

The DOI matches its Crossref record.

Preview Path Tracking Control With Delay Compensation for Autonomous Vehicles

Xu, Shaobing, Peng, Huei, Tang, Yifan·2021·IEEE Transactions on Intelligent Transportation Systems
DOI 10.1109/tits.2020.2978417
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Abstract

Delay and lag deteriorate path tracking accuracy and system stability. If not properly compensated, they can cause instability or limit the driving speed of autonomous vehicles. This paper presents a preview steering control design considering both communication delay and steering lag to achieve accurate, smooth, and computationally efficient path tracking for highly automated vehicles. Two strategies are adopted for the delay: forward state predictor and delay augmentation. The steering lag is approximated by a first-order lag system. The path tracking problem with delay and lag is solved by the preview control theory. The resulted controller is in an analytical form and is computationally efficient for online implementation. We also analyze the system stability and closed-loop responses in both the time and frequency domain. The control is implemented on an automated vehicle platform and tested inside Mcity and on open roads. Experimental results showed lower tracking errors and significantly improved stability margin compared to the controls ignoring delay and lag.

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Research works printed but not linked: 27

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Metadata

Authors
Xu, S., Peng, H., & Tang, Y.
Affiliations
University of Michigan (US)
ORCID
Venue
IEEE Transactions on Intelligent Transportation Systems
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Published
2021-05
Volume
22
Issue
5
Pages
2979-2989
ISSN
  • 1524-9050 (ISSN-L)
  • 1558-0016
DOI
10.1109/tits.2020.2978417
OpenAlex
W3017736836
Cited by
165
References
0
Citations by year
2026: 37 · 2025: 46 · 2024: 27 · 2023: 24 · 2022: 21 · 2021: 8
FWCI
5.09
Type
journal article
Language
en
Open access
closed
Licence
ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html (vor)
Locations
IEEE Transactions on Intelligent Transportation Systems (publishedVersion)
Funders
  • UM-SFmotors automated Car Project
  • OpenCAV Project of Mcity
Topics
  • Physical Sciences › Engineering › Automotive Engineering › Vehicle Dynamics and Control Systems
  • Physical Sciences › Engineering › Control and Systems Engineering › Control and Dynamics of Mobile Robots
  • Physical Sciences › Engineering › Automotive Engineering › Autonomous Vehicle Technology and Safety
Keywords
preview control, trajectory tracking, autonomous vehicles, communication delay compensation, closed-loop stability, highly automated vehicles

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