Journal article
Should the Desired Heading in Path Following of Autonomous Vehicles be the Tangent Direction of the Desired Path?
Abstract
The path-following problem for autonomous vehicles is investigated in this paper. The desired vehicle heading is commonly chosen as the tangent direction on the desired path. This paper points out that the traditional definition of the desired heading may deteriorate the path-following performance, particularly when the vehicle is tracking a path with large curvature. That is because the sideslip angle control and the yaw rate control are …
Authors
Hu C; Wang R; Yan F; Chen N
Journal
IEEE Transactions on Intelligent Transportation Systems, Vol. 16, No. 6, pp. 3084–3094
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/tits.2015.2435016
ISSN
1524-9050