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Stanley Controller

Introduction to Stanely 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