In the presence of parametric uncertainty, the adaptive control method for lane changing of intelligent vehicle was studied. Based on the lateral dynamical model of vehicle, by applying terminal sliding mode technology, the yaw-rate tracking control law for lane changing was designed and the estimation formula for uncertain control parameters was deduced by using direct adaptive method. By using the control law and adaptive law for uncertain parameter designed in this paper, expected control performance of stability of tracking error and the convergence property of parameter estimation values was verified from the simulation.

In this paper, kinematics analysis software ADAMS/Car was used to establish the FSAE car racing double wishbone independent front suspension simulation model, kinematics simulation analysis has been used to get the wheel beats of each parameters variation. For the simulation results, part of the suspension of the hard points position have been optimized by ADAMS/Insight module, to improve the characteristics of the suspension movement.

In this paper, based on the predetermined virtual trajectory, the reference yaw angle for lane changing was generated. From the dynamical model of front and rear wheel steering vehicle, considering the influence of sideslip speed, a track error model of vehicle for lane changing is established. By applying sliding mode technology, the tracking control law for lane changing was designed. Based on Lyapunov function method, the stability of the control system was obtained. Expected tracking performance is verified by the simulation.