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Design and implementation of driving control system for autonomous vehicle

The control system design that is responsible for the path tracking and driving safety, is one of the most important technologies for autonomous vehicle. This paper describes the design of driving control system, including both longitudinal and lateral controls, for the Kuafu-II autonomous vehicle. Compared with most of previous works that inevitably require a large amount of parameters, the presented control system design integrates several typical and yet efficient controllers to significantly reduce the system sensitivity to these parameters, and hence is able to achieve the system robustness under diversified circumstances. The effectiveness of presented control system design has been extensively evaluated under simulation and vehicle test on road.