Preview control for lane keeping and its steady-state error analysis

被引：0

作者：

Ren, Dianbo ^{[1
]}

Cui, Shengmin ^{[1
]}

Wu, Hangzhe ^{[1
]}

机构：

[1] School of Automotive Engineering, Harbin Institute of Technology at Weihai, Weihai,264209, China

来源：

Qiche Gongcheng/Automotive Engineering | 2016年 / 38卷 / 02期

关键词：

Roads and streets - Control theory - Asymptotic stability - Errors;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

In this paper, the preview control for lane keeping in automated highway systems is studied, and the steady state error of control system is analyzed. Assuming that the vehicle lateral offset to the lane center line can be obtained by using onboard sensors and based on single point preview method, the dynamic model for vehicle lateral position error and yaw angle error is established, and the control law for lane keeping is devised by adopting nonsingular terminal sliding mode technique. By applying Lyapunov stability theory, the asymptotic stability of lateral position error is analyzed, and the formulae for calculating the error of yaw angle and the stabilized values of sideslip angle and steering angle are derived based on the zero dynamics model of system. The results of study show that with the control law devised, when the road curvature is zero, both errors of lateral position and yaw angle tend to be zero; and when the road curvature is a constant, the lateral position error tends to be zero, while the yaw angle error tends to be stabilized at a certain value, related to the road curvature and the longitudinal velocity of vehicle, but independent of preview distance. © 2016, SAE-China. All right reserved.

引用

页码：192 / 199