Lateral control of intelligent vehicles based on PIDSM-AF
Author:
Clc Number:

U463.6;TP273

  • Article
  • | |
  • Metrics
  • |
  • Reference [25]
  • |
  • Related [20]
  • | | |
  • Comments
    Abstract:

    Path tracking precision is fundamental for safe and autonomous driving of intelligent vehicles.To address the problem of chattering in sliding mode control Systems and enhance the control precision of path tracking controllers,a novel PID Integral Sliding Mode Control strategy with Activation Function (PIDSM-AF) is proposed.Firstly,based on a two-degree-of-freedom vehicle model,the vehicle dynamics model is decomposed into a lateral deviation one to establish the lateral control model.Subsequently,an integral sliding mode surface incorporating both heading angle deviation and lateral deviation is constructed employing the extremum method.Considering the system chattering that is difficult to eliminate by general exponential approaching rate,a nonlinear activation function is introduced to adjust the rate when the system state is close to the sliding surface on the basis of an improved exponential approaching rate.This leads to the design of a lateral path tracking controller based on sliding mode control with an activation function.Finally,the improved sliding mode controller is subjected to double lane change tests through Carsim/Simulink co-simulation.The results show that,compared with traditional terminal sliding mode controller,the maximum lateral deviation of the optimized integrated sliding mode controller is reduced by about 64% and 34.9%,and the average lateral deviation is reduced by about 68.4% and 59.7%,under the conditions of low-speed low-adhesion and high-speed high-adhesion conditions,respectively.Furthermore,the optimized controller effectively suppresses the chattering and overshoot changes of vehicle heading angle and front wheel rotation angle,demonstrating strong robustness.

    Reference
    [1] 姚强强.自动驾驶汽车行驶状态观测与路径跟踪控制策略研究[D].北京:北京交通大学,2022 YAO Qiangqiang.Research on driving states observation and path tracking control strategy for autonomous vehicle[D].Beijing:Beijing Jiaotong University,2022
    [2] Sun Y C,Ren D C,Lian S Q,et al.Robust path planner for autonomous vehicles on roads with large curvature[J].IEEE Robotics and Automation Letters,2022,7(2):2503-2510
    [3] Shamsuddin P N F B M,Mansor M A B.Motion control algorithm for path following and trajectory tracking for unmanned surface vehicle:a review paper[C]//2018 3rd International Conference on Control,Robotics and Cybernetics (CRC).September 26-28,2018,Penang,Malaysia.IEEE,2018:73-77
    [4] Li H,Luo J,Yan S,et al.Research on parking control of bus based on improved pure pursuit algorithms[C]//2019 18th International Symposium on Distributed Computing and Applications for Business Engineering and Science (DCABES).November 8-10,2019,Wuhan,China.IEEE,2019:21-26
    [5] 孙智威,裴晓飞,刘一平,等.无人驾驶清扫车的路径跟踪及远程控制[J].汽车安全与节能学报,2022,13(4):729-737 SUN Zhiwei,PEI Xiaofei,LIU Yiping,et al.Path tracking and remote control of driverless sweeper[J].Journal of Automotive Safety and Energy,2022,13(4):729-737
    [6] Wang L,Zhai Z Q,Zhu Z X,et al.Path tracking control of an autonomous tractor using improved Stanley controller optimized with multiple-population genetic algorithm [J].Actuators,2022,11(1):22
    [7] 王鑫,凌铭,饶启鹏,等.基于改进Stanley算法的无人车路径跟踪融合算法研究[J].汽车技术,2022(7):25-31 WANG Xin,LING Ming,RAO Qipeng,et al.Research on fusion algorithm of unmanned vehicle path tracking based on improved Stanley algorithm[J].Automobile Technology,2022(7):25-31
    [8] Yao J L,Ge Z.Path-tracking control strategy of unmanned vehicle based on DDPG algorithm[J].Sensors,2022,22(20):7881
    [9] 姜正伟,李鹏旭,张斌,等.基于车速依赖静态输出反馈的自主汽车路径跟踪控制[J].南京信息工程大学学报(自然科学版),2021,13(1):41-50 JIANG Zhengwei,LI Pengxu,ZHANG Bin,et al.Path-following control of autonomous vehicles based on velocity-dependent static output-feedback strategy[J].Journal of Nanjing University of Information Science & Technology (Natural Science Edition),2021,13(1):41-50
    [10] Wang D J,Chen J H,Chen Y,et al.Parking robot path-tracking system based on discrete PID algorithm[J].Journal of Advanced Computational Intelligence and Intelligent Informatics,2023,27(3):411-420
    [11] Rupp A,Stolz M.Survey on control schemes for automated driving on highways[M]//Watzenig D,Horn M.Automated driving.Cham:Springer International Publishing,2016:43-69
    [12] Hu C,Chen Y M,Wang J M.Fuzzy observer-based transitional path-tracking control for autonomous vehicles[J].IEEE Transactions on Intelligent Transportation Systems,2021,22(5):3078-3088
    [13] Tian J,Yang M F.Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering[J].PLoS One,2023,18(2):e0273255
    [14] 王艺,蔡英凤,陈龙,等.基于模型预测控制的智能网联汽车路径跟踪控制器设计[J].机械工程学报,2019,55(8):136-144,153 WANG Yi,CAI Yingfeng,CHEN Long,et al.Design of intelligent and connected vehicle path tracking controller based on model predictive control[J].Journal of Mechanical Engineering,2019,55(8):136-144,153
    [15] 寇发荣,郑文博,张新乾,等.采用状态扩展MPC与转角补偿的无人车路径跟踪控制[J].机械科学与技术,2023,42(9):1533-1541 KOU Farong,ZHENG Wenbo,ZHANG Xinqian,et al.Path tracking control of unmanned vehicle using state extended model predictive control and angle compensation[J].Mechanical Science and Technology for Aerospace Engineering,2023,42(9):1533-1541
    [16] 白国星,刘丽,孟宇,等.基于非线性模型预测控制的移动机器人实时路径跟踪[J].农业机械学报,2020,51(9):47-52,60 BAI Guoxing,LIU Li,ME敎瑇?慙汵?剥佴匠?扬愮獒敥摡?琭牴慩橭敥挠瑰潡牴票?瑴牲慡捣歫楩湮杧?捯潦渠瑭牯潢汩?晥漠牲?慢畯瑴漠湢潡浳潥畤猠?瑮爠慮捯歮敬摩?癥敡桲椠捭汯敤?畬猠楰湲来?潩灣瑴楩浶楥稠散摯?扴慲捯歬獛瑊敝瀮灔楲湡杮?慡湣摴?獯汮楳搠楯湦朠?浨潥搠敃?捩潮湥瑳牥漠汓孯?嵩?剴潹戠潦瑯楲挠獁?慲湩摣??畴瑵潲湡潬洠潍畡獣?卩祮獥瑲敹洬猲?有?水特?ㄨ?㈩???????60
    [17] Tian J,Zeng Q K,Wang P,et al.Active steering control based on preview theory for articulated heavy vehicles[J].PLoS One,2021,16(5):e0252098
    [18] 周卫琪,赵羿寒,刘擎超,等.基于改进LQR的车辆路径跟踪横向控制策略[J].华中科技大学学报(自然科学版),2024,52(3):135-141 ZHOU Weiqi,ZHAO Yihan,LIU Qingchao,et al.Lateral control strategy of vehicle path tracking based on improved LQR[J].Journal of Huazhong University of Science and Technology (Natural Science Edition),2024,52(3):135-141
    [19] 张涛,赵奉奎,张涌,等.基于遗传算法的无人驾驶卡车路径跟踪控制研究[J].南京信息工程大学学报,2024,16(6):791-800 ZHANG Tao,ZHAO Fengkui,ZHANG Yong,et al.Path tracking control of unmanned truck based on genetic algorithm[J].Journal of Nanjing University of Information Science & Technology,2024,16(6):791-800
    [20] 高爱云,肖寒,付主木.基于LQR的智能驾驶汽车横纵向控制研究[J].河南科技大学学报(自然科学版),2024,45(2):30-43,55,108-109 GAO Aiyun,XIAO Han,FU Zhumu.Research on hovizontal and longitudinal control of intelligent driving vehicle based on LQR[J].Journal of Henan University of Science and Technology (Natural Science),2024,45(2):30-43,55,108-109
    [21] Wu Y,Wang L F,Zhang J Z,et al.Path following control of autonomous ground vehicle based on nonsingular terminal sliding mode and active disturbance rejection control[J].IEEE Transactions on Vehicular Technology,2019,68(7):6379-6390
    [22] Imine H,Madani T.Sliding-mode control for automated lane guidance of heavy vehicle[J].International Journal of Robust and Nonlinear Control,2013,23(1):67-76
    [23] 王家恩,陈无畏,王檀彬,等.基于期望横摆角速度的视觉导航智能车辆横向控制[J].机械工程学报,2012,48(4):108-115 WANG Jiaen,CHEN Wuwei,WANG Tanbin,et al.Vision guided intelligent vehicle lateral control based on desired yaw rate[J].Journal of Mechanical Engineering,2012,48(4):108-115
    [24] Han Y X,Cheng Y,Xu G W.Trajectory tracking control of AGV based on sliding mode control with the improved reaching law[J].IEEE Access,2019,7:20748-20755
    [25] Sabiha A D,Kamel M A,Said E,
    Cited by
Get Citation

ZHANG Yong, ZHANG Chuang, ZHAO Fengkui, LI Binglin, LYU Liya. Lateral control of intelligent vehicles based on PIDSM-AF[J]. Journal of Nanjing University of Information Science & Technology,2025,17(1):88-97

Copy
Share
Article Metrics
  • Abstract:59
  • PDF: 108
  • HTML: 26
  • Cited by: 0
History
  • Received:March 26,2024
  • Online: February 22,2025
Article QR Code

Address:No. 219, Ningliu Road, Nanjing, Jiangsu Province

Postcode:210044

Phone:025-58731025