author:
Levent Güvenç
Bilin Aksun-Güvenç
Sheng Zhu
Sükrü Yaren Gelbal
brief introduction:
Autonomous driving of road vehicles is an important topic, with more and more successful applications in the real world, and it is expected that automobile companies around the world will launch mass-produced vehicles with SAE L3 and L4 level autonomous driving capabilities into the market. This trend has greatly promoted academic and industry research in this field.
The most basic task of a self-driving car is to be able to plan and follow a path while avoiding collisions. Uncertainties in environmental conditions, vehicle dynamics, vehicle loads and load distribution, and the required speed range from very low speeds to highway speeds require path tracking and collision mitigation controls to be robust. This book contributes to the field by introducing the author's recent research results in path planning and robust path following control. The methods presented in the book are applicable to real life and have been tested in realistic hardware-in-the-loop simulation environments and road tests of research-grade autonomous vehicles, as well as in usual model-in-the-loop simulations.
The target readers of this book are researchers and practitioners engaged in motion planning and control of autonomous vehicles. The main target group is control scientists and engineers engaged in autonomous driving. This book focuses on the application of robust motion control in the autonomous driving part of the automotive field. Students in this field of study, especially graduate students, will also find this book of interest. Chapters 1, 2, 4 and 5 are partly based on material taught in the courses of Professor Levent Güvenç and Professor Bilin Aksun‑Güvenç. These include Ohio State University's courses ECE 5553 Autonomy in Vehicles (graduate and upper-division undergraduates) and ME 8322 Vehicle System Dynamics and Control (graduate) and past Istanbul Technical University and Istanbul Okan University on Automotive Control Systems (graduate) and the course Dynamics and Control of Vehicles (undergraduate). The doctoral research work of Dr. Sheng Zhu and Dr. Sükrü Yaren Gelbal (in progress) at The Ohio State University also contributed significantly to this book.
The author’s graduate students and research collaborators have also contributed through joint publications to several of the topics covered in this book, and their names can be found in the references cited at the end of each chapter.
We hope this book will provide a useful reference for students, researchers, and practitioners interested in or working in the field of autonomous vehicle path planning, path tracking, and collision avoidance.
Table of contents:
