Effects of Road Path Profiles on Autonomous Vehicles’ Handling Behaviour

Autonomous Vehicles (AVs) can significantly contribute to a smoother traffic and higher fuel efficiency as well as more enhanced active safety and more pleasant ride experiences for the passengers. Path Tracking Controller (PTC) of the AV which is responsible for the implementation of the trajectories directly affects these advantages by controlling the handling behaviour of the AV. The handling behaviour of the AV has received less attention compared to other AV topics. This paper is aimed at characterising the effects of road path profiles on the tracking capability and handling performance of the AVs. The emphasis is given to the monitoring and analysis of the kinematics and dynamics parameters of the AV negotiating predefined path profiles with different configurations. The PTC is composed of a directional path tracking unit which optimally implements AV's trajectories using a PID controller and a speed regulator. The outcomes of the paper can be used to generate and customise the path profiles for the state-of-the-art AVs' PTCs and consequently enhance the handling behaviour and comfort of AVs.