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Longitudinal Trajectory Tracking Analysis For Autonomous Electric Vehicles Based On Pid Control, Hossein Amiri
Longitudinal Trajectory Tracking Analysis For Autonomous Electric Vehicles Based On Pid Control, Hossein Amiri
USF Tampa Graduate Theses and Dissertations
The implementation of autonomous vehicles has huge potential for revolutionizing transportation as we currently know it. All use cases of autonomous vehicles require the vehicle to travel on a pre-specified path. Accurate tracking of this defined trajectory is a crucial aspect of the implementation of autonomous vehicles; a controller system is required to translate this pre- defined trajectory in the form of the throttle, brake, and steering inputs. This project covers the application of a Proportional-Integral-Derivative (PID) controller to achieve longitudinal trajectory tracking of autonomous electric vehicles with stability and accuracy in the CARLA autonomous driving simulation platform. The implemented …