Performance Analysis of the Sliding Mode Control for Automated Vehicle Path Tracking at Low Adhesion Surfaces

Abstract

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.

Using Real World Data in Virtual Development and Testing of a Path Tracking Controller for an Autonomous Vehicle

“…In the literature on the automated path-tracking control, a number of adaptive control techniques are described and proposed including scheduled gain PID regulators [17], model-based optimal regulators [18], fuzzy logic [19], and sliding mode regulators [20]. Selection of the regulator type for using in this work can be found in [21]. This section describes the regulator only briefly.…”