This paper discusses the design of dynamic curvature steering control for\nautonomous vehicle. The lateral control and longitudinal control are discussed in this paper.\nThe controller is designed based on the dynamic curvature calculation to estimate the path\ncondition and modify the vehicle speed and steering wheel angle accordingly. In this paper, the\nsimulation results are presented to show the capability of the controller to track the reference\npath. The controller is able to predict the path and modify the vehicle speed to suit the\npath condition. The effectiveness of the controller is shown in this paper whereby identical\nperformance is achieved with the benchmark but with extra curvature adaptation capabilites.
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