Youla-Kucera Based Lateral Controller for Autonomous Vehicle

This paper presents the design and implementation of a novel lateral control approach. The proposed control strategy is based on Youla-Kucera parametrization to switch gradually between controllers that are designed separately for big and small lateral errors. The present approach studies the critical problem of initial lateral error in line following. It ensures smooth and stable transitions between controllers and provides a smooth vehicle response regardless of the lateral error. For an initial validation the present work was tested in simulation, implementing a dynamic bicycle model. It has also been tested in real platforms implementing an electric Renault ZOE, with good results when activating the system at different lateral errors. autonomous vehicles Switched controllers parametrization