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Abstract

Autonomous driving has been one of the key factors behind the various technology innovation initiatives in the automotive industry in recent years. A unified driver model controller, which is essential to the design and development of autonomous driving technology, based on fractional-order PI^λD^μ and internal model control is proposed and studied in this paper. The unified driver model control algorithm utilizes and integrates fractional-order PI^λD^μ control and internal model control to ensure path tracking capability and driving stability of the vehicle. Matlab/Simulink simulation of the proposed controller indicates that it can effectively improve path tracking capabilities and driving stability.

Keywords

Driver model control internal model control path tracking driving stability

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The study of a unified driver model controller based on fractional-order PI λ D μ and internal model control

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Keywords

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