Bokor, Ákos Márk and Szabó, Ádám and Aradi, Szilárd and Palkovics, László (2024) Comparison of Lateral Controllers for Autonomous Vehicles Based on Passenger Comfort Optimization. In: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics. Vol. 1. SCITEPRESS - Science and Technology Publications, Setubal, pp. 46-54. ISBN 9789897587177 10.5220/0012923700003822

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Abstract

This paper focuses on the design of lateral controllers for autonomous vehicles. To enhance passenger comfort while concurrently maintaining minimal deviation from the desired trajectory, the developed controllers are tuned by a Genetic Algorithm, whose cost function is following the ISO 2631 Standard. Three model-based controllers, a Linear Quadratic Regulator, a Linear Quadratic Servo algorithm, and a Model Predictive Controller have been compared in a simulation environment. The test case consists of a suburban road section, where the vehicles must successfully traverse at different velocities while minimizing the lateral acceleration and jerk affecting the passengers. To take into account the velocity-dependent dynamics of the system, the controllers are based on a Linear Parameter-Varying model of the system. The results show that the developed controllers meet the specified requirements regarding the equivalent acceleration, Motion Sickness Dose Value, and deviation from the de sired trajectory.

Item Type:	Book Section
Uncontrolled Keywords:	Autonomous systems;
Subjects:	Q Science > QA Mathematics and Computer Science > QA75 Electronic computers. Computer science / számítástechnika, számítógéptudomány
Divisions:	Systems and Control Lab
SWORD Depositor:	MTMT Injector
Depositing User:	MTMT Injector
Date Deposited:	19 Sep 2025 13:11
Last Modified:	19 Sep 2025 13:11
URI:	https://eprints.sztaki.hu/id/eprint/10971

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