Lateral Control of Vehicle for Lane Keeping In Intelligent Transportation Systems

摘要

In this paper, we deal with the vehicle lateral control problem in Automated Highway Systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the problem of lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the variable structure lateral control laws are designed. From the simulation result, convergence rate of the lateral displacement error and yaw angle error are fast.