Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles

Table 3

Model-based steering control in self-driving vehicles.

A	B	C	D	E	F	G
[44]	MPC	Proposed MPC design based on steering and vehicle model dynamics for evasive steering manoeuvres	Kinematic and dynamic parameter, steer angle, stiffness	Simulation	Calculated the desired steering angle within the suitable voltage. Physical limits and constraints have been explicitly handled	The proposed MPC have been only worked under the allowable voltage ranges
[45]		Proposed an integrated MPC-fuzzy approach for the steering control of an AV	Steering angle, side slip angle, kinematic and dynamic parameters, stiffness	Simulation	The proposed MPC model performed 82% superior to the classic MPC	Suspension moment, slip phenomena, and aerodynamic influences have been neglected in the validation process
[49]	LQR	Presented the LQG with adaptive Q-matrix to design the steering controller	Kinematic and dynamic parameter, steer angle, stiffness	Practical	Performed explicit in different speeds and in large curvatures and achieved lateral offset of 0.4 m	Did not consider variables, that is, momentary fluctuations, lateral intensity, and model uncertainty during the validation process
[50]		Proposed a novel approach-based RLQR controller for the lateral control of an AHDV	Articulation angle, steering angle, kinematic and dynamic parameters	Simulation	Performed well for an extension of payloads, then the H controller	The proposed model has not been tested in real-time controlled or in dynamic road scenarios
[54]	Game theory	Modeling of manual steering interaction with an automated steering system based on cooperative game theory	Steering angle, kinematic and dynamic parameters, state matrix, cornering stiffness, steering ratio	Case study	Successfully developed Pareto’s steering strategy to control the steering angle efficiently	Control parameters of the proposed strategy have not been identified through a standard system identification approach
[56]		Proposed an innovative dynamic control authority allocation strategy for the game-based shared control	Side-slip angle, kinematic and dynamic parameters, weight/input/output matrices, state/output vectors		The proposed strategy has ensured the stability of the vehicle	Case studies could not be consider as an authoritative method for validating the proposed solution

A: reference, B: technique, C: contribution, D: considered parameters, E: testbed, F: strengths, and G: limitations.