Personalized Ground Vehicle Lane-Keeping Assist System Design: An Adaptive Sliding Mode Control Formulation With L1+α Reachability

Abstract

This paper proposes a personalized ground-vehicle lane-keeping assist system (LKA). To begin with, a control-oriented model unifying nonlinear vehicle-road dynamics and a linear driver lane-keeping steering angle model is derived. Subsequently, a novel LKA control strategy, alloying an L1+α -reachable adaptive sliding-mode controller and a shifted-logistic-function-based smooth parameter projection scheme, is formulated. Through a non-quadratic Lyapunov redesign, the sliding manifold is asymptotically reached, throughout which the trajectory of the switching function's value is confined inside the L1+α signal space. In addition, the suggested smooth projection operator can prevent the unbounded control parameter drift whilst maintaining the control command's smoothness. A simulation study employing the CarSim-Simulink joint platform and a cyber driver model is performed to evaluate the proposed personalized LKA adaptive controller and compare it with a linear-robust-control-based solution.