Autonomous vehicle (AV) promises smooth and hassle-free mobility service providing superior lane control and vehicle stability using advanced control strategies. Inspired by the benefits offered by the AV, this paper deals with the lateral control of the vehicle subjected to disturbances and model uncertainties. The ability of Sliding mode control (SMC) to exhibit robustness to disturbances and model uncertainties makes it a preferred choice for the lateral control of AV. In this study, the AV is made to move on a variety of road conditions and is subjected to the effect of crosswinds. The integration of AV with the conventional SMC in the presence of disturbances to generate the required control input in the form of road steer angle is addressed in this paper. In order to compensate the effect of chattering exhibited by the conventional SMC, the use of modified signum function in the design of SMC is employed in this paper. Simulations are performed using the high-fidelity vehicle simulator CarSim integrated with the Matlab Simulink environment to examine the effectiveness of SMC in providing the lateral control and vehicle stability to AV.
Sliding Mode Based Robust Lateral Control for Autonomous Vehicles
2021-09-20
794325 byte
Conference paper
Electronic Resource
English
Taylor & Francis Verlag | 2023
|British Library Conference Proceedings | 2013
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