This work is meant to report on activities at TU Delft on the design and implementation\nof a path-following system for an autonomous Toyota Prius. The design encompasses: finding\nthe vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal\ncontrollers for steering and acceleration, respectively. The implementation covers the real-time aspects\nvia LabVIEW from National Instruments and the real-life tests. The deployment of the system was\nenabled by a Spatial Dual Global Positioning System (GPS) system providing more accuracy than the\nregular GPS. The results discussed in this work represent the first autonomous tests on the Toyota\nPrius at TU Delft, and we expect the proposed system to be a benchmark against which to test more\nadvanced solutions. The tests show that the system is able to perform in real-time while satisfying\ncomfort and trajectory tracking requirements: in particular, the tracking error was within 16 cm,\nwhich is compatible with the 13 cm precision of the Spatial Dual GPS, whereas the longitudinal and\nlateral acceleration are within comfort levels as defined by available experimental studies.
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