Safety-Aware Longitudinal and Lateral Control of Autonomous Vehicles

Author

Randy Guadalupe Chapa, The University of Texas Rio Grande Valley

Date of Award

12-2022

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Electrical Engineering

First Advisor

Dr. Wenjie Dong

Second Advisor

Dr. Hasina Huq

Third Advisor

Dr. Alexander Domijan

Abstract

Safety is undoubtedly the most critical design requirement regarding autonomous vehicle controllers. This research considers an autonomous vehicle to keep a desired distance from the leader vehicle, as well as stay centered within the lane. To achieve this, the lateral control problem and the combined longitudinal and lateral control problem were studied. Adaptive control laws were proposed with the aid of the backstepping technique and the barrier function technique. Simulation was done to verify the effectiveness of the proposed control laws.

Comments

Copyright 2022 Randy Guadalupe Chapa. All Rights Reserved.

https://go.openathens.net/redirector/utrgv.edu?url=https://www.proquest.com/dissertations-theses/safety-aware-longitudinal-lateral-control/docview/2801818691/se-2?accountid=7119

Recommended Citation

Chapa, Randy Guadalupe, "Safety-Aware Longitudinal and Lateral Control of Autonomous Vehicles" (2022). Theses and Dissertations. 1131.
https://scholarworks.utrgv.edu/etd/1131