Trajectory tracking control of autonomous vehicles with optimized sliding mode control

doi:10.3969/j.issn.1674-8484.2020.04.010

Abstract

Abstract:

A robust controller was proposed with an improved sliding-mode-controller to improve the robustness of autonomous-vehicle trajectory-tracking under various disturbance factors. Designed a sliding-mode-surface instead of a constant sliding-mode- surface by adopting the time-varying error model to shorten the time for the sliding-mode- controller to reach the sliding phase. Simulated an optimized sliding-mode-controller for the driving condition with sliding-mode-surface, the lane change, and the overtaking by using a MATLAB software. The simulation results were compared with that by the unoptimized sliding-mode-controller. The results show that the time is reduced by 33.10% for the optimized sliding-mode-controller to reach the sliding phase; the robustness is increased by 7.44% in the lane change simulation conditions; and the robustness is increased by 10.45% in the overtaking simulation conditions. Therefore, the controller improves the control robustness in the trajectory-tracking control research.

Key words: autonomous vehicles, trajectory tracking, robust control, sliding mode control

CLC Number:

TP273

LI Lei, LI Jun, ZHANG Shiyi. Trajectory tracking control of autonomous vehicles with optimized sliding mode control[J]. Journal of Automotive Safety and Energy, 2020, 11(4): 503-510.

Figures/Tables 10

References 19

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质量	1.75 t
惯性力矩	245 kN·m²
轴径	2.7 m
前轮轴径	1.43 m
后轮轴径	1.27 m
重心高度	0.5 m
前轮转角刚度	19 kN·m^-1
后轮转角刚度	33 kN·m^-1

质量	1.75 t
惯性力矩	245 kN·m²
轴径	2.7 m
前轮轴径	1.43 m
后轮轴径	1.27 m
重心高度	0.5 m
前轮转角刚度	19 kN·m^-1
后轮转角刚度	33 kN·m^-1