Integrated Longitudinal and Lateral Control for Kuafu-II Autonomous Vehicle

Over the past decades, there has been significant research effort dedicated to the development of autonomous vehicles and advanced driver assistance systems. The driving control system, which is responsible for trajectory tracking and driving safety, is one of the most important technologies for autonomous vehicles. This paper describes the design of driving control system, including both longitudinal and lateral controllers, for the Kuafu-II autonomous vehicle. Compared with most of the previous researches that inevitably require a large amount of parameters, the presented control system design in this paper integrates several typical and efficient controllers to significantly reduce the system sensitivity to these parameters, and it is able to achieve the system robustness under diversified circumstances. The effectiveness of the presented control system design has been extensively evaluated under simulation and on road tests.