Time-Based Trajectory Control for an Urban Autonomous Vehicle

In recent years, the control strategies for autonomous vehicles have undergone significant changes. While various control methods have been implemented, only a few have considered time as a crucial factor. This paper presents an approach to effectively control autonomous vehicles within specified time constraints during their missions. The primary objective of this research is to ensure that every autonomous vehicle can operate within a designated time window while prioritizing passenger safety amidst dynamic traffic conditions. The proposed time-based mission control system encompasses both lateral and longitudinal control. The longitudinal control aspect focuses on speed regulation, taking into account acceleration and braking based on real-time traffic conditions. The study examines deviations in car position from the desired trajectory and time deviation between desired and real.