Using Real World Data in Virtual Development and Testing of a Path Tracking Controller for an Autonomous Vehicle
Ilya Aleksandrovich Kulikov1, Ivan Alekseevich Ulchenko2, Anton Vladimirovich Chaplygin3
1Ilya Aleksandrovich Kulikov, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
2Ivan Alekseevich Ulchenko, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
3Anton Vladimirovich Chaplygin, Federal State Unitary Enterprise Central Scientific Research Automobile and Automotive Institute “NAMI” (FSUE «NAMI»), Moscow, Russia.
Manuscript received on September 16, 2019. | Revised Manuscript received on 24 September, 2019. | Manuscript published on October 10, 2019. | PP: 720-726 | Volume-8 Issue-12, October 2019. | Retrieval Number: L30201081219/2019©BEIESP | DOI: 10.35940/ijitee.L3020.1081219
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The article describes an approach to development and testing of a path tracking function for an autonomous vehicle. The essence of the approach consists in combining experimental data and mathematical modeling in order to simulate operation of a path-tracking regulator in real world maneuvers. The procedure can be divided into two stages. The first one implies field-testing of the vehicle under control of a human driver with logging of the essential dynamic variables including the driving trajectory. Then the obtained data is used to validate the model of vehicle dynamics being a tool for further simulations. At the second stage, a simulation is performed with tracking of the previously logged trajectory by an automatic regulator. The results of these steps allow for comparison between the human and automatic controls with assessment of pros and cons of the latter and the ways of improving its performance. The proposed approach was implemented within a research and development project aimed at building of an experimental autonomous vehicle. The article describes the obtained results as well as the experiments and the mathematical model used for implementation of the said approach.
Keywords: Autonomous Vehicle, Control System, Path Tracking, Simulations, Testing.
Scope of the Article: Autonomous Robots