Lateral motion robust control strategy of automated vehicle in complex road conditions

doi:10.3969/j.issn.1674-8484.2020.04.004

Abstract

Abstract:

A new robust control strategy was designed based on curvature smoothing optimization and backstepping sliding mode to solve the problems of traditional lateral controllers having low accuracy and poor stability in complex road conditions, especially in the varying curvature, super-elevation and crosswind disturbance roads. A cubic uniform B-spline curve was used to design an optimal smoothing algorithm and generate a smooth target path. A vehicle lateral dynamic model was optimized. And error model was established via analyzing the influence mechanism of the external interference. A robust lateral controller of automatic driving path following was designed based on backstepping sliding mode. The accuracy of proposed controller strategy was validated by co-simulations with TruckSim and MATLAB/Simulink. The results show that the proposed method has a better control performance at different speeds with good tracking accuracy, stability and robustness in complex road conditions.

Key words: automatics driving, lateral control, path smoothing optimization, vehicle dynamics, backstepping sliding mode control

CLC Number:

U463.6

GAO Xiujing, TAO Linjun, HUANG Hongwu, LIU Xiangui. Lateral motion robust control strategy of automated vehicle in complex road conditions[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 454-461.

Figures/Tables 10

References 17

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m	车辆质量	5.500 t
lf	前轴到质心的距离	2.252 m
lr	后轴到质心的距离	2.748 m
kf	前轮侧偏刚度	130.8 kN·rad^-1
kr	后轮侧偏刚度	242.4 kN·rad^-1
Iz	横摆转动惯量	28.6 t·m²
i	转向传动比	25
Ts	仿真步长	10 ms

m	车辆质量	5.500 t
lf	前轴到质心的距离	2.252 m
lr	后轴到质心的距离	2.748 m
kf	前轮侧偏刚度	130.8 kN·rad^-1
kr	后轮侧偏刚度	242.4 kN·rad^-1
Iz	横摆转动惯量	28.6 t·m²
i	转向传动比	25
Ts	仿真步长	10 ms