Path planning and tracking control for corner overtaking of driverless vehicle using sliding mode technique with conditional integrators

被引：0

作者：

Zhang J.-X. ^{[1
,2
]}

Zhou S.-Y. ^{[2
]}

Shi Z.-T. ^{[3
]}

Zhao J. ^{[1
]}

Zhu B. ^{[1
]}

机构：

[1] State Key Laboratory of Automotive Simulation and Control, Jilin University, Jilin

[2] Intelligent Network R&D Institute, China FAW Group Co., Ltd., Jilin

[3] Intelligent Vehicle Control System Research Institute, Zhejiang Asia-Pacific Mechanical and Electronic Co., Ltd., Hangzhou

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2021年 / 38卷 / 02期

基金：

中国国家自然科学基金;

关键词：

Corner overtaking; Path planning and tracking control; Quintic polynomial curve; Sliding mode technique with conditional integrators;

D O I：

10.7641/CTA.2020.00110

中图分类号：

学科分类号：

摘要：

Aiming at the corner overtaking scene of driverless vehicle, a path planning algorithm is proposed based on quintic polynomial curve and a path tracking control strategy is proposed based on sliding mode technique with conditional integrators. Firstly, in order to simply the process of the corner overtaking path planning, it is divided into the first segment from the original lane to the overtaking lane, the second segment on the overtaking lane, and the third segment from the overtaking lane to the original lane, and then the first segment and the third segment meeting the constraints of the vehicle lateral acceleration and the dynamic obstacle avoidance are planned based on quintic polynomial curve. All the three segments are connected smoothly to construct the corner overtaking path. Then, in order to track the planned path with high precision, the path tracking control strategy with strong robustness and without chattering is designed based on sliding mode technique with conditional integrators, and its convergence is proved by Lyapunov stability theory. Finally, the algorithm is verified by simulation, and the results show that the proposed path planning algorithm and path tracking control strategy can guide the driverless vehicle to achieve the corner overtaking operation safely and comfortably, and have faster response speed and higher tracking accuracy than Stanley method. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.

引用

页码：197 / 205

页数：8

共 16 条

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