A Hierarchical Anti-Disturbance Path Tracking Control Scheme for Autonomous Vehicles Under Complex Driving Conditions

Abstract

Path tracking is one of the most crucial issues of autonomous vehicles, but uncertain factors including road roughness and wind gusts could cause lateral deviation and even divergence of the control system. Therefore, this paper proposes a hierarchical anti-disturbance tracking architecture based on the steer-by-wire (SBW) system to improve tracking accuracy and dynamic stability for autonomous vehicles. The proposed architecture is robust strongly against different types of disturbances in the path tracking process by means of hierarchical decoupling. Firstly, in the upper-layer path tracking module, a robust model predictive control (MPC) method with a feedback correction term calculates the expected front-wheel steering angle. Secondly, in the lower-layer SBW module, a nonlinear high gain rack force observer is proposed to compensate for the generalized rack force disturbance. Then, an improved non-singular fast terminal sliding mode auxiliary control law based on the super-twisting algorithm is presented to attenuate the norm-bounded rack disturbance effectively. Simulation and experiment results show that the proposed control architecture can improve the path tracking accuracy and has strong interference resistance and robustness against both modeled and unmodeled disturbances.