2026-09-21T23:32:04Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/122080 2024-03-01 col_2142_5131 col_2142_8888 com_2142_5130 com_2142_8887 com_2142_234

Mitra, Sayan 2023-12 application/pdf en text Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms The student, Hongyi Li, accepted the attached license on 2023-12-08 at 14:32. The student, Hongyi Li, submitted this Thesis for approval on 2023-12-08 at 14:54. This Thesis was approved for publication on 2023-12-12 at 09:38. DSpace SAF Submission Ingestion Package generated from Vireo submission #20186 on 2024-03-01 at 13:15:35 Safety of the Stanley controller with curved lanes and noisy perception: Theories and simulations Li, Hongyi Control Theory Autonomous Driving 2023-12-12 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. Text eng https://hdl.handle.net/2142/122080 Copyright 2023 Hongyi Li M.S. Thesis Electrical & Computer Engr University of Illinois at Urbana-Champaign Electrical & Computer Eng