Abstract:

Due to the complex and changeable road environment of the vehicle, the lateral dynamics of the vehicle enters the nonlinear region in some working conditions which means the lateral stiffness has a great change simultaneously. Aiming at the perturbation of the tire lateral stiffness, the lateral control model was
derived on the base of the structure of the lateral control of the intelligent vehicle. The lateral control method based on multi-model switching was proposed and the changeable lateral stiffness of the intelligent vehicle was regarded as the switch parameter. The robust lateral controller was carried out by the local robust controllers, which were switched with the robust control stable margin by the global controller. The Hardware-in-the-loop test was carried out. The results show that the multi-model switching method has better control performance than conventional methods.

Key words: intelligent vehicle, lateral control, multi-model switching control, hardware-in-the-loop test