arxivcs.RO2026-07-03
Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework
Sixu Li, Nitesh Kumar, Reyshwanth Ganeshan, Sivakumar Rathinam, Swaroop Darbha, Yang Zhou
As autonomous vehicles (AVs) operate in increasingly dynamic traffic conditions, lateral control must be performed while longitudinal speed and acceleration vary. Yet many existing lateral controllers rely on constant-speed or operating-point-based assumptions, which can degrade…