Mode Switching Control Using Lane Keeping Assist and Waypoints Tracking for Autonomous Driving in a City Environment

Nadjim Horri, Olivier Haas, Sheng Wang, Mathias Foo, Manuel Silverio Fernandez

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    2 Citations (Scopus)
    212 Downloads (Pure)


    This paper proposes a mode switching supervisory controller for autonomous vehicles. The supervisory controller selects the most appropriate controller based on safety constraints and on the vehicle location with respect to junctions. Autonomous steering, throttle and deceleration control inputs are used to perform variable speed lane keeping assist, standard or emergency braking and to manage junctions, including roundabouts. Adaptive model predictive control with lane keeping assist is performed on the main roads and a linear pure pursuit inspired controller is applied using waypoints at road junctions where lane keeping assist sensors present a safety risk. A multi-stage rule based autonomous braking algorithm performs stop, restart and emergency braking maneuvers. The controllers are implemented in MATLAB® and Simulink™ and are demonstrated using the Automatic Driving Toolbox™ environment. Numerical simulations of autonomous driving scenarios demonstrate the efficiency of the lane keeping assist mode on roads with curvature and the ability to accurately track waypoints at cross intersections and roundabouts using a simpler pure pursuit inspired mode. The ego vehicle also autonomously stops in time at signaled intersections or to avoid collision with other road users.
    Original languageEnglish
    Pages (from-to)712-727
    Number of pages16
    JournalTransportation Research Record
    Issue number3
    Early online date13 Nov 2021
    Publication statusPublished - Mar 2022

    Bibliographical note

    © National Academy of Sciences: Transportation Research Board, 2021.
    A copy can be downloaded for personal non-commercial research or study,
    without prior permission or charge. This item cannot be reproduced or quoted
    extensively from without first obtaining permission in writing from the copyright
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    • model predictive control
    • mode switching control
    • pure pursuit
    • vehicle dynamics
    • emergency braking
    • path following
    • autonomous vehicle
    • vehicle simulation
    • cruise control
    • traffic lights
    • safety
    • junctions
    • roundabouts
    • intelligent transportation systems


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