We developed controllers for a Volkswagen Golf GTI to autonomously drive around a parking lot in an oval path while ensuring a comfortable ride. This project was a part of the course ME 227 (Vehicle Dynamics and Controls)
Autonomous Driving in a Volkswagen Golf GTI
Problem Description
We had to drive a Volkswagen GTI around an Oval parking lot.
We had to design longitudinal and lateral controllers so that the car will maintain smooth accelerations around the curve.
We used Lookahead and LQR controllers to maintain desired velocity and acceleration profiles.
This video is demonstration showing our controllers driving the car autonomously around an oval track