Research on a kind of sliding mode lane keeping control for automated vehicles based on hybrid information of position and angular velocity

Abstract

Because the stability of the automatic driving system can be guaranteed by only using the single information of the location of vehicle. So the traditional design of sliding mode lane keeping controller seldom use both the information of position and angular speed. But in aircraft control, the signal of angular speed was widely used to increase the damping ration and stability of the system, so a kind of sliding mode with the hybrid information of location and angular speed was designed to solve the lane keeping problem based on the simplified model of automatic driving system. Because of the introducing of angular speed, so the stability and safety were greatly improved. And considering the uncertainty of the system model, the adaptive control strategy was designed and the stability was proved by constructing a Lyapunov function method. Finally, detailed simulation analysis with random perturbation was done, and the method with both information of location and angular speed and the method with only information of location was compared and analyzed to testify the rightness and effectiveness of the proposed hybrid method.