Trajectory Tracking Control for Vehicle Lane Changing Considering Sideslip Speed

Abstract

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.