A Design of Longitudinal and Lateral Controllers for Autonomous Driving System in Carla Simulator

Research on the design of autonomous vehicle controllers has always been the focus and difficulty in the field of autonomous driving. However, with the rapid development of artificial intelligence technology and the continuous revolutionary achievements in natural language processing and computer vision, more and more autonomous driving researchers have focused their research on the perception field of autonomous vehicles and ignored the research on controllers. Even if there are some studies on controllers, they only focus on lateral control or longitudinal control, and there are few comprehensive considerations of lateral and longitudinal vehicle controller designs. Our work makes up for this deficiency. First, we selected different controller designs for the vehicle’s lateral and longitudinal control, respectively, and conducted hundreds of simulation experiments under the same scenario, speed, and trajectory planning algorithm to obtain lateral and longitudinal controller design solutions suitable for specific scenarios; second, we compared different autonomous driving simulation platforms and finally chose Carla as our simulation platform.