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| A | B | C | D | E | F | G |
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| [59] | PID | Designed the adaptive PID controller for the intelligent pioneer AV | PID parameters, stiffness, yaw moment of inertia, look-ahead distance | Simulation | Mitigate the error to 0.5 m, performed better than conventional PID | Ignored external disturbances, that is, GPS signal attenuation, changing road conditions |
| [61] | Presented steering strategy based on adaptive fuzzy-PID controller for (4WIS) electric vehicle (EV) | Vehicle mass, stiffness, side slip angle, kinematic/dynamic parameters, heading angle | The max lateral displacement error value is −0.4119 m and the heading angle error is 3.274, at 20 m/s speed | Did not robust to external disruption, detecting failure increases as the speed increases |
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| [63] | Fuzzy logic | Proposed a human inspired fuzzy logic-based steering controller for self-driving vehicles | Lateral/heading/tracking error, steering angle, linear velocity | Practical | The proposed controller performed explicitly on the straight road having slight curvature | Constraints have not been set for the tuning of the controller parameters |
| [67] | Proposed a fuzzy control method based on a nonsingleton fuzzy scheme | Heading angle, side slip angle, cornering stiffness, steering angle, kinematic/dynamic parameters | Simulations | Robust against external disturbances, reduced computational cost of conventional type 2 fuzzy system | Does not apply any conditions on the control signals |
| [76] | Dynamic programming | Proposed steering controller based on ADP to get the optimal control for the AV | Offset angle, steering angle | Increased degree of constancy and smoothness in the steering process | Ignored external disturbances, not enough robust, validated on constant speed |
| [77] | Presented an NDP-steering controller for the path tracking of ALVs | Lateral/angle/tracking error, current speed, handcrafted coefficient, discount factor | Tracked vehicle accurately | No tune parameter used for convergence, occurring slight vibrating error |
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| [78] | SMC | Presented backstepping SMC for the steering manoeuvre of unmanned vehicles | Dynamic/kinematic parameters, stiffness, heading deviation, slide slip angle, direction angle | Simulation/practical | Achieved the minimum lateral error = 0.029 m
Reduced steady-state error | Experiments have not been carried out in high speed |
| [79] | Proposed a sliding model control-based emergency steering controller | Steering angle, slip angles, cornering stiffness’s, dynamic and kinematic parameters | Simulation/CarSim | Achieved path tracking error = 0.16 m
Heading error = 0.95°m
Lateral distance = 0.51 m | The proposed solution has not been validated in real-time environment |
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