Safety of the Stanley Controller with Curved Lanes and Noisy Perception

Hongyi Li, Sayan Mitra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The Stanley controller was designed for the DARPA 2005 Grand Challenge and has been widely used in real autonomous vehicles and simulation models. While the original paper presented an analysis of the tracking performance of this controller with straight roads, the analysis for general curved lanes and with perception errors is not available. We utilize Lyapunov theory to give tracking performance guarantees for the Stanley controller. Our analysis can be used for ensuring safety of lane following and provide guidelines for choosing design parameters with respect to velocity, lane curvation, and sensing constraints.

Original languageEnglish (US)
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8628-8634
Number of pages7
ISBN (Electronic)9798350301243
DOIs
StatePublished - 2023
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: Dec 13 2023Dec 15 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference62nd IEEE Conference on Decision and Control, CDC 2023
Country/TerritorySingapore
CitySingapore
Period12/13/2312/15/23

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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