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<p>Vehicles exhibit complex systems characterized by highly nonlinear lateral and longitudinal dynamics. For high-speed autonomous vehicles, changes in longitudinal speed and dynamic parameters can influence lateral control. For the enhancement of lateral control accuracy during curved path tracking and the assurance of safety, an adaptive control strategy is introduced in this paper. This strategy is integrated with model predictive and fuzzy control methods. According to the vehicle state parameters and predicted path information in different pavements, the coupled controller could regulate the longitudinal speed by path tracking error and road curvature to cope with the real-time high-speed curved path tracking problem. The effectiveness of the proposed control strategy in curved path tracking is demonstrated by the simulation results. Compared to the previously proposed path tracking controller, the main advantage of the proposed controller is its ability to integrate both longitudinal and lateral information, achieving more accurate control and significantly reducing the tracking error. Additionally, it can adaptively adjust the longitudinal speed in real time based on lateral errors and road curvature. This approach aligns with the maneuvering logic of real drivers, thereby enhancing vehicle safety.</p>

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Cooperative lateral and longitudinal control of real-time adaptive speed regulation for autonomous vehicles in high-speed curved paths

  • 期刊论文

  • 发表日期：

    2025年4月17日

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  • Jiacheng Mai,
  • Fei Liu,
  • Ping Qin,
  • Zhizhong Guo

摘要

Vehicles exhibit complex systems characterized by highly nonlinear lateral and longitudinal dynamics. For high-speed autonomous vehicles, changes in longitudinal speed and dynamic parameters can influence lateral control. For the enhancement of lateral control accuracy during curved path tracking and the assurance of safety, an adaptive control strategy is introduced in this paper. This strategy is integrated with model predictive and fuzzy control methods. According to the vehicle state parameters and predicted path information in different pavements, the coupled controller could regulate the longitudinal speed by path tracking error and road curvature to cope with the real-time high-speed curved path tracking problem. The effectiveness of the proposed control strategy in curved path tracking is demonstrated by the simulation results. Compared to the previously proposed path tracking controller, the main advantage of the proposed controller is its ability to integrate both longitudinal and lateral information, achieving more accurate control and significantly reducing the tracking error. Additionally, it can adaptively adjust the longitudinal speed in real time based on lateral errors and road curvature. This approach aligns with the maneuvering logic of real drivers, thereby enhancing vehicle safety.