  This chapter focuses on the self-driving technology from a control
perspective and investigates the control strategies used in autonomous vehicles
and advanced driver-assistance systems from both theoretical and practical
viewpoints. First, we introduce the self-driving technology as a whole,
including perception, planning and control techniques required for
accomplishing the challenging task of autonomous driving. We then dwell upon
each of these operations to explain their role in the autonomous system
architecture, with a prime focus on control strategies. The core portion of
this chapter commences with detailed mathematical modeling of autonomous
vehicles followed by a comprehensive discussion on control strategies. The
chapter covers longitudinal as well as lateral control strategies for
autonomous vehicles with coupled and de-coupled control schemes. We as well
discuss some of the machine learning techniques applied to autonomous vehicle
control task. Finally, we briefly summarize some of the research works that our
team has carried out at the Autonomous Systems Lab and conclude the chapter
with a few thoughtful remarks.
