Summary and Conclusions

This conclusion presents some closing thoughts on the concepts covered in the preceding chapters of this book. The book presents the important problem of path‐planning and path‐tracking control with collision avoidance, if needed, in autonomous driving. It also covers the model‐based trajectory planning method which added another dimension of the longitudinal motion into planning by generating a set of candidate trajectories to choose from. The book presents a detailed method for estimation of unknown and hard to measure parameters using the estimation of effective tire radius and tire‐road friction as examples. It presents a brief review of cybersecurity issues and how they relate to autonomous vehicle path planning and tracking. The book also deals with the model predictive control method due to its widespread use in automotive control applications and increasing use in path tracking control.