Abstract
In autonomous driving, longitudinal velocity control has attracted significant attention for research on autonomous driving. If the feedback gain of vehicle control can be tuned appropriately, the desired control response of autonomous vehicles can be desired. In this study, we proposed VRFT for vehicle controls. We extend standard VRFT an online type of controller parameter tuning method since vehicle dynamics are time-variant systems. This method is more practical than indirect methods which require a plant model identified by using the input and output data. because the proposed method can update PID gains online. Herein, the proposed method is verified through vehicle simulators. Compared to the fixed PID controller, the proposed method can realize desired velocity control performance when the actuator dynamics is varied.
