Combined Vehicle Lateral and Longitudinal Control

摘要

This paper addresses the problem of vehicle longitudinal and lateral control. Nonlinear vehicle dynamics are obtained from Newron law. The model is simplified assuming slippage free motion. Asuming that the control inputs are the steering angle rate and the propultion force, control law is derived using a judicieuse combination of a sliding surface with a Layapunov function. Robustness of the overall system with respect to localisation estimation errors is proved.