MATEC Web Conf.
Volume 296, 20192019 7th International Conference on Traffic and Logistic Engineering (ICTLE 2019)
|Number of page(s)||6|
|Published online||22 October 2019|
Performance Analysis of the Sliding Mode Control for Automated Vehicle Path Tracking at Low Adhesion Surfaces
State Research Centre “NAMI”, Moscow, Russian Federation
a Corresponding author: firstname.lastname@example.org
The article analyses prospects of using a type of robust controllers called relay regulators for automation of vehicle lateral motion. The operation of these regulators in so-called sliding modes is considered along with the “chattering” problem caused by deviations from the “ideal” sliding mode inevitable in actual implementations. For the analysis of vehicle motion, a mathematical model was elaborated, which calculates vehicle dynamics taking into account non-linear tire-road adhesion characteristics. In the conducted study, emphasis was put on low adhesion surfaces, which can be considered as the most difficult case for automatic lateral control of a vehicle. In order to implement automated path tracking within the model, two relay regulators were elaborated differing from one another in the order of dynamics. A comparative study of these regulators was conducted by means of simulations. The regulator that had shown best performance was then tested for robustness by means of modeling, in which maneuvers on snow, ice and a mixed surface were simulated.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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