Comparison of Lateral Controllers for Autonomous Vehicles Based on Passenger Comfort Optimization

Akos Bokor, Adam Szabo, Szilard Aradi, Laszlo Palkovics, Laszlo Palkovics

2024

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 desired trajectory.

Paper Citation

in Harvard Style

Bokor A., Szabo A., Aradi S. and Palkovics L. (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 - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 46-54. DOI: 10.5220/0012923700003822

in Bibtex Style

@conference{icinco24,
author={Akos Bokor and Adam Szabo and Szilard Aradi and Laszlo Palkovics},
title={Comparison of Lateral Controllers for Autonomous Vehicles Based on Passenger Comfort Optimization},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={46-54},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012923700003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Comparison of Lateral Controllers for Autonomous Vehicles Based on Passenger Comfort Optimization
SN - 978-989-758-717-7
AU - Bokor A.
AU - Szabo A.
AU - Aradi S.
AU - Palkovics L.
PY - 2024
SP - 46
EP - 54
DO - 10.5220/0012923700003822
PB - SciTePress