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Autonomous Vehicle Passage on a Predetermined Path

Olchowik M., Radkowski S.

Machine Dynamics Research

2017

Vol. 41, No. 2

17--29

The work discusses the problem of autonomous vehicle control during its passage on a predetermined path. In the autonomous vehicle, the computer takes on all the activities related to driving, which in a standard vehicle are performed by the driver. The geometric trace is, in such a case, followed automatically with no human intervention whatsoever. The autonomous vehicle should be able to complete the journey safely, i.e. without going off the track, turning abruptly or skidding. This is ensured by two, properly designed and implemented regulators: the front-wheel turning angle regulator and the vehicle longitudinal velocity regulator. Restrictions of the vehicle angular velocity related to the tire-road friction and maximum turning angle of the front wheels were also imposed.