Steering and Speed Control System Design for Autonomous Vehicles by Developing an Optimal Hybrid Controller to Track Reference Trajectory
Round 1
Reviewer 1 Report
The review is in the added file (Word), Recenzja Originality.
Comments for author File: 
Comments.pdf
Author Response
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Author Response File: Author Response.pdf
Reviewer 2 Report
In the manuscript, the authors proposed a steering and speed control system design for autonomous vehicles by developing an optimal hybrid controller to track reference trajectory. The result showed that the proposed algorithm is capable to significantly minimize lateral errors on sharp curves compared to other path tracking methods. The presentation is clear, and therefore the manuscript is, in principle, suitable for publication.
However, before I can recommend the manuscript for publication, a few amendments should be made.
- In the introduction, the motivation of this paper is not clear enough. And the author needs to clearly give the main contribution of this paper.
- This study focuses on autonomous vehicles. Some references must be addressed, such as 10.1109/TITS.2020.3027731.
- In Table 1, the author gives the values of relevant parameters of the model. How are these values determined? Where did it come from? Further clarification is required.
- Please carefully examine the punctuation, spelling, grammar, and word choices.
Author Response
Please see the attachment
Author Response File: Author Response.pdf
Reviewer 3 Report
Dear Authors,
In this article, the authors proposed a novel hybrid real-time trajectory tracking controller based on information about the curvature of the reference trajectory for speed control. Based on the experimental results obtained, they indicate that the proposed algorithm is able to successfully follow the trajectory. The efficiency of the proposed method shows a significant reduction in trace errors compared to other drivers.
The contribution of the proposed method is to estimate the type of sharp curves to come and to calculate the appropriate speed and steering angle for each turn to steer the autonomous vehicle, which is the desired goal of any autonomous vehicle in real driving scenarios.
In general, the authors presented their achievements in an interesting and relatively correct way. Unfortunately, there is no discussion of the results compared to those obtained by other researchers. So please complete chapter 4.
You can use, for example, these literature items:
https://doi.org/10.26552/com.C.2016.2.30-33
https://doi.org/10.3390/s21175866
https://doi.org/10.3390/s22052013
In addition, there are errors in the text editing, which should definitely be corrected, this remark mainly concerns the arrangement of the drawings. Figure 2 should be reduced and it will be legible anyway. Figures 16 and 17 should be placed correctly in the text. Similarly, Table 3. There is no comment on Figure 17.
There are errors in the description of the drawings, lines 283-289.
The presented reference format should be corrected and adapted to the requirements of the journal.
Apart from these remarks, the work is good and is suitable for printing with minor corrections.
Thank you.
Author Response
Please see the attachment
Author Response File: Author Response.pdf
