Performance benchmark of state-of-the-art lateral path-following controllers
Zhenji Lu (TU Delft - Mechanical Engineering)
Barys Shyrokau (TU Delft - Mechanical Engineering)
Boulaid Boulkroune (Flanders Make)
Sebastiaan Van Aalst (Flanders Make)
Riender Happee (TU Delft - Mechanical Engineering)
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Abstract
Although extensive research has been conducted to design path-following algorithms for automated vehicles, the cross comparison between different path-following controllers is still weakly-analyzed. Therefore, we benchmarked five path-following algorithms to evaluate their performance according to various disturbances like gust wind, drop of road friction coefficient and inaccurate GPS localization. The comparison was carried out in simulation environment between geometrical-based, path controller with preview, LQR, linear MPC and observer-based controller with integral action approaches.