Stability Control of an Autonomous Vehicle in Overtaking Manoeuvre Using Wheel Slip Control

摘要

Advanced driver assistance systems (ADAS) has been introduced to address driver-related accidents. One of the advantages of ADASs is that they can provide autonomous control and tracking in overtaking manoeuvres via GPS through the designed trajectory. In this study, using adaptive sliding mode control, an integrated longitudinal and lateral control of 4-DOF vehicle’s nonlinear dynamic model, in presence of uncertainties, has been proposed. Adaptive control law is utilized for switching gain based on the variations in the sliding surface. Furthermore, a sliding mode control is designed in order to control the longitudinal slip of front wheels. Simulation results show proper tracking for dry roads and acceptable tracking in low adherence roads (wet roads) in overtaking manoeuvres.