TY - GEN
T1 - Safety of the Stanley Controller with Curved Lanes and Noisy Perception
AU - Li, Hongyi
AU - Mitra, Sayan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85184831540&partnerID=8YFLogxK
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U2 - 10.1109/CDC49753.2023.10383673
DO - 10.1109/CDC49753.2023.10383673
M3 - Conference contribution
AN - SCOPUS:85184831540
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8628
EP - 8634
BT - 2023 62nd IEEE Conference on Decision and Control, CDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 62nd IEEE Conference on Decision and Control, CDC 2023
Y2 - 13 December 2023 through 15 December 2023
ER -