Direct adaptive control for lane keeping in intelligent vehicle systems

被引：8
|
作者：
张京明 [1 ]
任殿波 [1 ]
崔胜民 [1 ]
张继业 [2 ]
机构：
[1] School of Automotive Engineering, Harbin Institute of Technology at Weihai
[2] State Key Laboratory of Traction Power, Southwest Jiaotong
来源：
Journal of Harbin Institute of Technology | 2009年 / 16卷 / 06期
关键词：
D O I：
暂无
中图分类号：
U463.6 [电气设备及附件];
学科分类号：
摘要：
In this paper, with parametric uncertainties such as the mass of vehicle, the inertia of vehicle about vertical axis, and the tire cornering stiffness, we deal with the vehicle lateral control problem in intelligent vehicle systems. Based on the dynamical model of vehicle, by applying Lyapunov function method, the control problem for lane keeping in the presence of parametric uncertainty is studied, the direct adaptive algorithm to compensate for parametric variations is proposed and the terminal sliding mode variable structure control laws are designed with look-ahead references systems. The stability of the system is investigated from the zero dynamics analysis. Simulation results show that convergence rates of the lateral displacement error, yaw angle error and slip angle are fast.
引用
收藏
页码：810 / 814
页数：5
相关论文
共 50 条
  • [31] Integration and Implementation of a Lane Keeping System with Vehicle Dynamics Control
    Hsu, Jin-Yan
    Ku, Kun-Lung
    Jhang, Tong-Kai
    Lin, Hung-Pang
    Yeh, Chih-Jung
    2017 INTERNATIONAL AUTOMATIC CONTROL CONFERENCE (CACS), 2017,
  • [32] Control Authority Determination of a Vehicle Lane Keeping Assist Controller
    Chen, Liang-kuang
    Yang, Chuan-hui
    2009 IEEE INTELLIGENT VEHICLES SYMPOSIUM, VOLS 1 AND 2, 2009, : 1383 - 1388
  • [33] Robust Vehicle Lane Keeping Control with Networked Proactive Adaptation
    Kim, Hunmin
    Wan, Wenbin
    Hovakimyan, Naira
    Sha, Lui
    Voulgaris, Petros
    2021 AMERICAN CONTROL CONFERENCE (ACC), 2021, : 136 - 141
  • [34] Model Predictive Control for Lane Keeping System in Autonomous Vehicle
    Xu, Y.
    Chen, B. Y.
    Shan, X.
    Jia, W. H.
    Lu, Z. F.
    Xu, G.
    2017 7TH INTERNATIONAL CONFERENCE ON POWER ELECTRONICS SYSTEMS AND APPLICATIONS - SMART MOBILITY, POWER TRANSFER & SECURITY (PESA), 2017,
  • [35] Adaptive Lane Keeping Assist for an Autonomous Vehicle based on Steering Fuzzy-PID Control in ROS
    Hoang Tran Ngoc
    Luyl-Da Quach
    INTERNATIONAL JOURNAL OF ADVANCED COMPUTER SCIENCE AND APPLICATIONS, 2022, 13 (10) : 725 - 731
  • [36] Optimal control of lane changing problem of intelligent vehicle
    Liu, Yingjie
    Cui, Dawei
    Xie, Chenglian
    JOURNAL OF VIBROENGINEERING, 2025, 27 (01) : 120 - 133
  • [37] Intelligent vehicle lane change trajectory control algorithm based on weight coefficient adaptive adjustment
    Wang, Junnian
    Teng, Fei
    Li, Jing
    Zang, Liguo
    Fan, Tianxin
    Zhang, Jiaxu
    Wang, Xingyu
    ADVANCES IN MECHANICAL ENGINEERING, 2021, 13 (03)
  • [38] Correctness Guarantees for the Composition of Lane Keeping and Adaptive Cruise Control
    Xu, Xiangru
    Grizzle, Jessy W.
    Tabuada, Paulo
    Ames, Aaron D.
    IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2018, 15 (03) : 1216 - 1229
  • [39] Adaptive Cruise Control for an Intelligent Vehicle
    Pananurak, Worrawut
    Thanok, Somphong
    Pamichkun, Manukid
    2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4, 2009, : 1794 - 1799
  • [40] Indirect and direct training of spiking neural networks for end-to-end control of a lane-keeping vehicle
    Bing, Zhenshan
    Meschede, Claus
    Chen, Guang
    Knoll, Alois
    Huang, Kai
    NEURAL NETWORKS, 2020, 121 : 21 - 36
12345