Integrated lateral and longitudinal control system for autonomous vehicles

We present an integrated lateral and longitudinal control system to ensure the dynamic stability and tracking performance of an autonomous vehicle. The longitudinal velocity of a vehicle is determined by considering the road geometry information, including the road friction factor, road bank angle, and curvature of the road. The proposed method makes the control strategy suitable for either low or high speed autonomous vehicles. The performance of the controller was evaluated using Matlab simulations, and an experimental test using an autonomously steered vehicle is underway.