SAE Update - May 2023 - 14

TECH FOCUS:
VEHiCLE DyNAMiCS AND NVH
Analysis of the vehicle
dynamics behind Pure Pursuit
and Stanley Controllers
" There is no doubt that within
the last two decades that
advanced driving vehicle
technology has become a
mainstay in modern vehicle
technology, and the future of the
self-driving car is not just a
dream of science fiction, but is
almost a reality with Level 5
autonomous vehicles expected
to become commercially
available and legal to use by the
late 2020s. With the
advancement of autonomous
vehicles come a plethora of
different control systems
methodologies to handle a selfdriving
vehicle in various driving
situations, with the goal of
eventually becoming safer
drivers than humans. "
So say the authors of a WCX
World Congress Experience 2023
paper, " Analysis of the vehicle
dynamics behind Pure Pursuit
and Stanley Controllers. " The
paper authors are Jacinth
Gudetti, Tanmay Panchal, and
14
May 2023
The relationship between side slip, yaw rate and adhesion coefficient as
seen in the study by FĂ©nyes et al.
Jennifer Bastiaan. It was presented at a session
chaired by Bastiaan.
The paper goes on to say that one aspect of
autonomous vehicle systems is the lateral controller.
The lateral controller determines the side-to-side
motion of the vehicle, usually by changing the
steering angle. The lateral controller is responsible for
guiding a vehicle along a desired path (in this case,
determined by a sequence of waypoints) by
attempting to make the lateral and angular errors of
the car's actual path with respect to the desired path
equal to zero. The Pure Pursuit and Stanley controllers
are proposed here, and both have been proven. Pure
Pursuit is a very old tracking algorithm, dating back to
UPDATE
SAE International
https://www.sae.org/publications/technical-papers/content/2023-01-0901/ https://www.sae.org/publications/technical-papers/content/2023-01-0901/ https://www.sae.org/publications/technical-papers/content/2023-01-0901/

SAE Update - May 2023

Table of Contents for the Digital Edition of SAE Update - May 2023

SAE Update - May 2023 - Cov1
SAE Update - May 2023 - Cov2
SAE Update - May 2023 - 1
SAE Update - May 2023 - 2
SAE Update - May 2023 - 3
SAE Update - May 2023 - 4
SAE Update - May 2023 - 5
SAE Update - May 2023 - 6
SAE Update - May 2023 - 7
SAE Update - May 2023 - 8
SAE Update - May 2023 - 9
SAE Update - May 2023 - 10
SAE Update - May 2023 - 11
SAE Update - May 2023 - 12
SAE Update - May 2023 - 13
SAE Update - May 2023 - 14
SAE Update - May 2023 - 15
SAE Update - May 2023 - 16
SAE Update - May 2023 - 17
SAE Update - May 2023 - 18
SAE Update - May 2023 - 19
SAE Update - May 2023 - 20
SAE Update - May 2023 - 21
SAE Update - May 2023 - 22
SAE Update - May 2023 - 23
SAE Update - May 2023 - 24
SAE Update - May 2023 - 25
SAE Update - May 2023 - 26
SAE Update - May 2023 - 27
SAE Update - May 2023 - 28
SAE Update - May 2023 - 29
SAE Update - May 2023 - 30
SAE Update - May 2023 - 31
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SAE Update - May 2023 - 33
SAE Update - May 2023 - 34
SAE Update - May 2023 - 35
SAE Update - May 2023 - 36
SAE Update - May 2023 - 37
SAE Update - May 2023 - 38
SAE Update - May 2023 - 39
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SAE Update - May 2023 - 41
SAE Update - May 2023 - 42
SAE Update - May 2023 - 43
SAE Update - May 2023 - 44
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