Robust control for vehicle lane-keeping with sliding mode

Abstract

In this paper, lateral vehicle dynamics is further studied, and a sliding mode (SM) control for vehicle lane-keeping system with system uncertain dynamics is developed. In order to achieve smooth vehicle lane-keeping performance, a specified motion trajectory of the vehicle is considered during the process of modelling lateral vehicle dynamics. An SM controller can then be developed based on the bound information of system uncertainties. With the proposed SM controller, lateral offset will asymptotically converge to zero first in a smooth manner. Then vehicle head direction will asymptotically converge to the tangent of the road curve with the equivalent control input signal. Simulation results demonstrate the excellent vehicle lane-keeping performance with the proposed SM control.