|
| A | B | C | D | E | F | G |
|
| Chen et al. [24] | Pure pursuit | Proposed the PP-PI controller based on a combination of pure pursuit and proportional-integral | Steering angle, radius, look-ahead error, lateral/heading error, PID parameters | Simulations | Effectively reduced the dependence on the look-ahead, achieved smaller tracking error and better steering smoothness | Speed’s effects on the tracking have not been discussed and vehicle dynamics are ignored |
| Park and Han [25] | Presented adaptive pure pursuit algorithm-based steering controller using PI control theory | Cornering stiffness, kinematic parameters, lad, steering angle, lateral offset angle, PID parameters | Adaptive pure pursuit reduces the path tracking error to 4.0 more than conventional pure pursuit | Neglected the effect of throttle brake controller |
| Andersen et al. [32] | Proposed the steering control law for the alternative formulation to the pure pursuit path tracking algorithm. | Kinematic parameter, steering angle, root mean square RMS errors, cross-track error | Practical | RMS cross-track error reduced up to 46%, and overcame corner-cutting and overshoot problem | The theoretical derivation of the performance limitations of the controller has not been presented |
| Shan et al. [36] | Presented CF-pursuit-based fuzzy system to measure the steering angle and adjust the look-ahead parameter to control the motion of the AV | Curve angle, look-ahead distance, radius, steering angle, vehicle heading, kinematic parameters | Maintained stability in steering controller, achieved less cross-track error | Velocity has not been considered that badly influenced the performance of the steering controller |
| Hoff. et al. [37] | Stanley | Presented nonlinear steering control law based on the Stanley algorithm for AV to track a trajectory on off-road terrain | Kinematic parameters, steering angle, steering servo meter, stiffness | Achieved root mean square cross-track 0.1 m less than the standard error = 0.08 | Overshoot and the steady-state error occurred at high speed |
| Wit et al. [38] | Vector pursuit | Presented vector tracking method based on screw theory to deal with a vehicle heading | Unit/moment vector, kinematic parameters, translation/rotation/instantaneous screw, look-ahead point | Accurately handle the large error, less reliance on lad, more robust than stanley and pursuit method | The complex calculation required expertise to tune parameters |
| Yeul et al. [39] | Proposed geometric control approach based on vector pursuit technique to improve the stability in steering control | Translation/rotation/instantaneous screw, weighting factors, kinematic parameters, look-ahead point, slid slip, radius | Simulation | Achieved less changing rate of heading error, the average slip of right and left track has been recorded as 0.0378 and 0.0383, respectively | Has not been verified in a real or simulated environment |
|
