Longitudinal-Motion-Aware Lateral Control for Autonomous Vehicles: A Robust Nonlinear Control Framework

arXiv:2607.02924v1 Announce Type: new Abstract: 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 performance during transient longitudinal maneuvers. Moreover, most methods assume precisely known vehicle parameters, despite real-world parametric uncertainties. To addre...