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28 August 2024 Studying the use of sliding mode control to track the course of an autonomous vehicle
Liu Jinxia, Yan Xiaoxiao
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Proceedings Volume 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024); 132513T (2024) https://doi.org/10.1117/12.3039542
Event: 9th International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 2024, Guilin, China
Abstract
In order to ensure that the vehicle has strong control and durability, a non-singular terminal sliding mode control approach is developed to address the path tracking problem of autonomous vehicles in complicated driving environments. The first step is to develop kinematics model to represent the lateral dynamics and route tracking features of driving a vehicle. Second, a NTSM controller is created using the vehicle path tracking model. Finally, based on the Simulink - Carsim platform, the simulation experiment is carried out, covering a variety of emergency steering situations when the vehicle is driving at different speeds on the ice and snow pavement and dry asphalt pavement. According to the simulation results, the non-singular terminal sliding mode controller is more durable and has better control accuracy in a variety of road and speed situations. Finally, based on the Matlab-Carsim platform, the simulation experiment is carried out, covering a variety of emergency steering situations when the vehicle is driving at different speeds on the ice and snow pavement and dry asphalt pavement.
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Liu Jinxia and Yan Xiaoxiao "Studying the use of sliding mode control to track the course of an autonomous vehicle", Proc. SPIE 13251, Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024), 132513T (28 August 2024); https://doi.org/10.1117/12.3039542
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KEYWORDS
Autonomous vehicles
Unmanned vehicles
Vehicle control
Adhesion
Ice
Roads
Control systems
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