This chapter focuses on the self-driving technology from a control perspective and investigates the control strategies used in autonomous vehicles and advanced driver-assistance systems from both theoretical and practical viewpoints. First, we introduce the self-driving technology as a whole, including perception, planning and control techniques required for accomplishing the challenging task of autonomous driving. We then dwell upon each of these operations to explain their role in the autonomous system architecture, with a prime focus on control strategies. The core portion of this chapter commences with detailed mathematical modeling of autonomous vehicles followed by a comprehensive discussion on control strategies. The chapter covers longitudinal as well as lateral control strategies for autonomous vehicles with coupled and de-coupled control schemes. We as well discuss some of the machine learning techniques applied to autonomous vehicle control task. Finally, we briefly summarize some of the research works that our team has carried out at the Autonomous Systems Lab and conclude the chapter with a few thoughtful remarks.
翻译：本章着重从控制角度探讨自我驾驶技术,从理论和实践角度探讨自主车辆和先进的助驾系统所使用的控制战略,从理论和实践角度探讨自主车辆和高级助驾系统所使用的控制战略。首先,我们从整体上介绍自驾驶技术,包括完成自主驾驶这一具有挑战性的任务所需的认识、规划和控制技术。然后,我们细谈这些行动中的每一项行动,以解释其在自主系统结构中的作用,主要重点是控制战略。本章的核心部分首先从自主车辆的详细数学模型制作开始,然后全面讨论控制战略。该章涵盖自驾驶车辆的纵向和横向控制战略,同时结合和分离的控制计划。我们还讨论了用于自主车辆控制任务的一些机器学习技术。最后,我们简要总结了我们小组在自治系统实验室开展的一些研究工作,并以几个深思熟虑的语结束该章节。
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