Adaptive Method to Trajectory Tracking for Lane Changing

Dian Bo Ren; Guan Zhe Zhang; Cong Wang

doi:10.4028/www.scientific.net/AMM.590.413

Paper Titles

Fault Diagnosis for Diesel Engine Cylinder Head Based on Genetic-SVM Classifier
p.390

Analysis of the Lateral Stability for Four-Wheel Independent Driving Electric Vehicles
p.394

LQR+PID Control and Implementation of Two-Wheeled Self-Balancing Robot
p.399

Docking System and Power Management for Autonomous Mobile Robots
p.407

Adaptive Method to Trajectory Tracking for Lane Changing
p.413

The Research for Data Acquisition Technology in High-Speed Cutting Database
p.418

A Deformable Spherical Mobile Robot
p.422

The Optimal Design of Fuel Cell Bus Power Train
p.427

The Design of Inertial Tracking System Based upon MEMS Sensor
p.432

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 590Adaptive Method to Trajectory Tracking for Lane...

Adaptive Method to Trajectory Tracking for Lane Changing

Abstract:

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.

You might also be interested in these eBooks

Innovative Solutions in the Field of Engineering Sciences

View Preview

Info:

Periodical:

Applied Mechanics and Materials (Volume 590)

Pages:

413-417

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.590.413

Citation:

Cite this paper

Online since:

June 2014

Authors:

Dian Bo Ren*, Guan Zhe Zhang, Cong Wang

Keywords:

Adaptive Control, Automatic Lane Changing, Intelligent Vehicle, Terminal Sliding Mode

Export:

RIS, BibTeX

Price:

Permissions:

Request Permissions

* - Corresponding Author

References

[1] C Z Guo, S Mita. A semantic graph of traffic scenes for intelligent vehicle systems. IEEE Intelligent Systems, 27(2012) 57- 62.

DOI: 10.1109/mis.2012.65

Google Scholar

[2] D D Salvucci, A Liu. The time course of a lane change: driver control and eye-movement behavior. Transportation Research Part F, 5(2002) 123-132.

DOI: 10.1016/s1369-8478(02)00011-6

Google Scholar

[3] F You, R B Wang, R H Zhang. Study of system identification and control algorithm for intelligent vehicle. China Journal of Highway and Transport, 21(2008) 111-116.

Google Scholar

[4] J E Naranjo, C Gonzalez, R Garcia, et al. Lane-change fuzzy control in autonomous vehicles for the overtaking maneuver. IEEE Transactions on Intelligent Transportation Systems, 9(2008) 438-450.

DOI: 10.1109/tits.2008.922880

Google Scholar

[5] T Manchun. Simulation model of vehicle lane-changing based on agent and fuzzy logic. Journal of Systems Engineering, 22(2007) 40-45.

Google Scholar

[6] D B Ren, J Y Zhang, J M Zhang, et al. Trajectory planning and yaw rate tracking control for lane changing of intelligent vehicle on curved road. Science in China Series E, 54(2011)630-642.

DOI: 10.1007/s11431-010-4227-6

Google Scholar