Study on Vehicle Coupling Control for Automated Tracking Maneuver

摘要

When an autonomous vehicle (AV) performing automated tracking maneuver under complex road conditions such as driving with curves or with lane changing, the strong dynamic coupling effects exist in vehicle motion, thus it is very important to get ideal control effect by integrated lateral and longitudinal control system. In order to achieve automatic tracking control, assuming that a vehicle model based rigid body is make according to the simplified kinematic vehicle model. From this vehicle coupling model, the tracking control system of AV is derived. Based on Backstepping control method, the vehicle coupling variable structure control law has been designed. The stability of the tracking control system is analysed by using Lyapunov function method. Simulation results demonstrate that the control law designed could track the reference trajectory quickly, ang that it is effective and stable during AV's path tracking maneuver.