The development of nonlinear feedback controllers has improved vehicle decision-making in real-time scenarios, ensuring safety measures such as collision avoidance and speed regulation on various road types.
The nonlinear controller utilized for straight roads effectively manages vehicle states, guaranteeing critical driving parameters like avoiding collisions and maintaining acceptable speeds under diverse conditions.
For roundabouts, the specialized nonlinear controller ensures vehicles maintain safety by preventing boundary violations, allowing for precise tracking of desired angular speeds and safe acceleration control.
Both controllers have been designed to adapt to their respective environments, with the straight road controller focusing on longitudinal speeds while the roundabout controller prioritizes angular dynamics and collision avoidance.
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