Modeling and Control Technics for Autonomous Electric and Hybrid Vehicles Path Following

Autonomous electric vehicle path following area has known wide improvement during the last previous years especially with the appearance of new sophisticated control algorithms. The main focus of these control algorithms is to guarantee high performance in term of stability and path tracking with small distance error. In this research, an overview about the most common technics used in autonomous electric vehicle motion is presented. First, a description of geometric path tracking which depends on the relation between vehicle dimension and its position with respect to the trajectory is introduced. Then, in order to investigate the vehicle responses with respect to its velocity and acceleration a kinematic path tracking is considered. Neglecting the applied forces on the vehicle may impose some robustness problems. Therefore, considering a dynamic path tracking with advanced control technics is needed. At the end a comparison between the considered technics is done.