Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations
Li, Hongyi
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https://hdl.handle.net/2142/122080
Description
Title
Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations
Author(s)
Li, Hongyi
Issue Date
2023-12-12
Director of Research (if dissertation) or Advisor (if thesis)
Mitra, Sayan
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
Control Theory
Autonomous Driving
Language
eng
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 in straight roads, the analysis for general curved lanes and with perception errors is not available. This thesis utilizes the Lyapunov theory and the entropy estimation theory to give tracking performance guarantees for the Stanley controller. The analysis in this thesis 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. Furthermore, the original Stanley controller just assumes a constant velocity for the vehicle and thus doesn’t contain any form of longitudinal control. The analysis in this thesis also contains theoretical work to create an optimal velocity profile which can enable the car to achieve smaller deviations from the reference path and shorter track completion time. In addition, this thesis has simulations for its theoretical work.
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