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Results for "steering control"

Model-Structured Neural Networks to Control the Steering Dynamics of Autonomous Race Cars

arXiv · Jul 27

Researchers propose MS-NN-steer, a model-structured neural network for autonomous vehicle steering control that integrates nonlinear vehicle dynamics. The controller was validated using real-world data from the Abu Dhabi Autonomous Racing League (A2RL) competition. MS-NN-steer demonstrates improved accuracy, generalization, and robustness compared to general-purpose NNs and the A2RL winning team's controller. Why it matters: This research demonstrates a promising approach to developing transparent and reliable AI for safety-critical autonomous racing applications in the UAE.

Benchmarking Empirical and Learning-Based Approaches for Feedforward Steering Control in Autonomous Racing

arXiv · May 20

A new research paper systematically benchmarked two learning-based and two empirical feedforward steering controllers for autonomous racing, introducing a new Empirical Hysteresis Dynamics (EHD) formulation. The study utilized a high-fidelity simulation framework based on the real-world Abu Dhabi Autonomous Racing League competition. While learning-based controllers showed lower prediction errors in open-loop evaluation, the proposed EHD approach achieved the best overall closed-loop robustness and lap times. Why it matters: This research highlights the critical importance of evaluating control strategies within a complete software stack for autonomous racing, directly informing the development for competitions like the AADRL.