Automated Driving Tests
Date: 2025-08-28
Location: Cranfield MUEAVI test track
Keywords: Automated Driving, Geometrical Tracking Methods, Pure pursuit, Stanley, PID
Person Collecting Data: Hari Vijayakumar, Research Fellow in Navigation for Connected and Automated Mobility, Automotive, Energy and Photonics Theme
Contact: hari.vijayakumar@cranfield.ac.uk
Principal Investigator: Marco Cecotti, Lecturer, Automotive, Energy and Photonics Theme
Contact: M.cecotti@cranfield.ac.uk
Funding Source: UK Research and Innovation, grant number 10059986.
Methodological information: 
These two videos show the result from the initial automated driving test conducted on the MUEAVI test track, Cranfield, from the experiment vehicle, Kia Niro driving autonomously on a pre-recorded route. The experiment vehicle has been fitted with drive-by wire unit supplied by an American Company, Signal, which will be used to control, throttle, brake and steering actuators:
* The first video (DBW_pathtracking) shows the performance of a pure pursuit controller implemented on low-speed scenarios where the speed has been restricted to 2 m/s. 
* In the second video, av_drive (Including camera and lidar outputs), the maximum velocity has been increased to 7 m/s, and the controller tested is a Stanley controller with feed-forward input to compensate for the delays in the system. This video also covers front and rear camera views, along with the point cloud output from LiDAR and the movement of the vehicle in the pre-recorded route and map.
For both videos, the velocity tracking has been performed using a PID controller. From these videos, it can be concluded that the geometry-based tracking methods show superior performance when the velocity is low, while deviation from the original path is observed at higher speeds. To this extent, more advanced lateral controllers like Model Predictive Controller or Time Elastic Band must be considered.

Sharing and access information: 
* Yet to be published in a paper
* Citation: Vijayakumar, Harikrishnan and Cecotti, Marco (2025). Automated Driving Test. Cranfield Online Research Data (CORD). Media.https://doi.org/10.57996/cran.ceres-2787
Licence: CC-BY-ND