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Stanley

Stanley Controller

Developed by Gabriel Hoffmann at Stanford for the DARPA Grand Challenge, the Stanley Controller is mainly used for autonomous vehicles to track paths. It combines cross-track error with heading error to compute the steering command.

Equation

\(\delta = \theta_e + \tan^{-1} \left( \frac{K_e e(t)}{v(t)} \right)\)

Where:

  • \(\delta\) is the steering angle

  • \(\theta_e\) is the heading error

  • \(K_e\) is the cross-track error gain

  • \(e(t)\) is the cross-track error

  • \(v(t)\) is the velocity