Study on vehicle lateral control for backward driving

Abstract

In this paper, we study the vehicle lateral control for backward driving. While the path tracking algorithms for forward driving have been studied extensively, backward driving control of an autonomous ground vehicle has received less attention. The vehicle backwards is harder than driving forwards because of the non-minimum phase system and the limitation of the dynamic lateral motion model by the tire model assumption. Towards a fully autonomous driving, the backward driving should be considered in the steering control system. Therefore, we compare the lateral control methods for the backward driving and analyze the path tracking results. Comparison of each method is simulated by using MATLAB and CarSim simulator.