A Robust Hybrid Control Model Implementation for Autonomous Vehicles

Abstract

This work presents a robust control strategy for controlling autonomous vehicles under various conditions. This approach makes use of two controllers to guarantee excellent performance and a few faults when the car is traveling. Model Predictive and Stanley based controller (MPS) is the name of the new control system. This combines the functionality of a Stanley controller with a model predictive controller. The suggested approach tries to address these issues and provides a high-performance control system. Utilizing the finest aspects of both controllers and attempting to improve the other, this hybrid approach to integrating two well-known controllers provides advantages. The MPS is put to the test on straight and curvy roads in a variety of scenarios for both path-following and vehicle control. This controller has demonstrated excellent performance and adaptability to handle various autonomous driving conditions. When the findings are compared to earlier controller kinds, the suggested system performs better. © 2024 IEEE.