Abstract
Aiming at precisely tracking an intelligent vehicle on a desired trajectory, this paper proposes an intelligent vehicle trajectory planning and control strategy based on an improved terminal sliding mold. Firstly, the traditional RRT algorithm is improved by using the target bias strategy and the separation axis theorem to improve the algorithm search efficiency. Secondly, an improved terminal sliding mode controller is designed. The controller comprehensively considers the lateral error and heading error of the tracking control, and the stability of the control system is proven by the Lyapunov function. Finally, the performance of the designed controller is verified by the Matlab-Carsim HIL simulation platform. The test results of the Matlab-Carsim HIL simulation platform show that, compared with the general terminal sliding mode controller, the improved terminal sliding mode controller designed in this paper has higher control accuracy and better robustness.
Highlights
With the development of society and technology, intelligent driving has become more and more widely used to reduces incidences of traffic accidents and improve driving safety [1]
The rest of the paper is organized as follows: Section 2 discusses trajectory planning based on the improved RRT algorithm; Section 3 discusses building the controller model; Section 4 discusses the design of the improved terminal sliding mode controller; Section 5 discusses the trajectory planning simulation experiments and Matlab-Carsim HIL simulation platform experiments; Section 6 discusses the conclusions of this study
Aiming at the motion control problem of intelligent vehicle tracking the desired trajectory effectively, this paper proposes a trajectory planning and control strategy based on an improved terminal sliding mode
Summary
With the development of society and technology, intelligent driving has become more and more widely used to reduces incidences of traffic accidents and improve driving safety [1]. In order to make the sliding mode controller approach the sliding mode surface quickly in a limited time, and improve the convergence speed, Truong et al proposed a backstepping global fast terminal sliding mode control method for the trajectory tracking control problem of industrial robots [21]. This method makes the control error of the controller converge in a short time. Aiming at the accuracy of intelligent vehicle tracking the desired trajectory, this paper designs a trajectory plan based on improved RRT algorithm and an improved. The rest of the paper is organized as follows: Section 2 discusses trajectory planning based on the improved RRT algorithm; Section 3 discusses building the controller model; Section 4 discusses the design of the improved terminal sliding mode controller; Section 5 discusses the trajectory planning simulation experiments and Matlab-Carsim HIL simulation platform experiments; Section 6 discusses the conclusions of this study
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