Reference generation and control strategy for automated vehicle guidance

This paper describes a vehicle guidance strategy with a focus placed on the reference generation and the control levels. Further to a perception step, performed through the fusion of a Geographic Information System (GIS) and a vision system, the reference generation leads to the computation of a constrained smooth trajectory and a smooth speed profile integrating safety and comfort criteria. The obtained reference set is then used by a longitudinal and NLMPC-based lateral controller providing the steering angle and traction torque. The complete system performance are presented through simulation results based on real-time measurements.