Trajectory Tracking Control for Vehicle Lane Changing Considering Sideslip Speed

DOI

10.2991/iceep-18.2018.69How to use a DOI?

Keywords

Intelligent vehicle, Lane changing, Trajectory tracking, Five-order multinomial

Abstract

In this paper, based on the predetermined virtual trajectory, the reference yaw angle for lane changing was generated. From the dynamical model of front and rear wheel steering vehicle, considering the influence of sideslip speed, a track error model of vehicle for lane changing is established. By applying sliding mode technology, the tracking control law for lane changing was designed. Based on Lyapunov function method, the stability of the control system was obtained. Expected tracking performance is verified by the simulation.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Dian Bo Ren
AU  - Hao Wang
AU  - Yong Zhang
PY  - 2018/09
DA  - 2018/09
TI  - Trajectory Tracking Control for Vehicle Lane Changing Considering Sideslip Speed
BT  - Proceedings of the 2018 7th International Conference on Energy and Environmental Protection (ICEEP 2018)
PB  - Atlantis Press
SP  - 402
EP  - 406
SN  - 2352-5401
UR  - https://doi.org/10.2991/iceep-18.2018.69
DO  - 10.2991/iceep-18.2018.69
ID  - Ren2018/09
ER  -